diff --git a/init.zsh b/init.zsh
index 837d368..1f2ceb3 100644
--- a/init.zsh
+++ b/init.zsh
@@ -260,7 +260,7 @@ source "${ZSH_CONFIG_DIR}/emacs-bookmark.zsh"
 
 # Ros2 instll on arch
 if [[ -d /opt/ros/humble/ ]]; then
-    ZSH_ROS2_ROOT=/opt/ros/humble/
+    # ZSH_ROS2_ROOT=/opt/ros/humble/
     source "${ZSH_CONFIG_DIR}/lazy-ros2.zsh"
 fi
 
diff --git a/lazy-ros2.zsh b/lazy-ros2.zsh
index f1d1eab..dbef20b 100644
--- a/lazy-ros2.zsh
+++ b/lazy-ros2.zsh
@@ -1,6 +1,20 @@
 # Lazy-load ros2 stuff
 
-(( ${+ZSH_ROS2_ROOT} )) || return
+function __zsh_load_ros2 {
+    export AMENT_PREFIX_PATH=/opt/ros/humble
+    export CMAKE_PREFIX_PATH=/opt/ros/humble
+    export COLCON_PREFIX_PATH=/opt/ros/humble
+    export ROS_DISTRO=humble
+    export ROS_LOCALHOST_ONLY=0
+    export ROS_PYTHON_VERSION=3
+    export ROS_VERSION=2
+    export LD_LIBRARY_PATH="/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib:${LD_LIBRARY_PATH}"
+    export PATH="/opt/ros/humble/bin:${PATH}"
+    export PKG_CONFIG_PATH="/opt/ros/humble/lib/pkgconfig:${PKG_CONFIG_PATH}"
+    export PYTHONPATH="/opt/ros/humble/lib/python3.13/dist-packages/:/opt/ros/humble/lib/python3.13/site-packages:${PYTHONPATH}"
+}
+
+# (( ${+ZSH_ROS2_ROOT} )) || return
 
 local defined=()
 
@@ -23,7 +37,7 @@ for exec in ${defined}; do
         printf 'Setting up ros2 with \"%s\"...\n\n' \\
             \"\${(q)ZSH_ROS2_ROOT%/}/setup.zsh\"
         unfunction ${undef_args}
-        source \${(q)ZSH_ROS2_ROOT}/setup.zsh ||
+        __zsh_load_ros2 ||
             { echo 'Failed to load ros2 libraries!'; return }
         (( \${#} == 0 )) && ${(q)exec} || ${(q)exec} \"\${@}\"
     }"