diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3fac5f7..31d009a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,6 +9,16 @@ string(REGEX REPLACE ".*(lib|share)(32|64)?/?" "\\1/" RUBY_LIBRARY_INSTALL_DIR $
 install(DIRECTORY lib/ DESTINATION ${RUBY_LIBRARY_INSTALL_DIR} )
 install(FILES package.xml DESTINATION share/utilrb)
 
+# Install an env-hook in etc/orocos/${OROCOS_TARGET}/profile.d
+configure_file(env-hooks/00.utilrb.sh.in ${CMAKE_CURRENT_BINARY_DIR}/env-hooks/00.utilrb.sh @ONLY)
+install(
+  FILES ${CMAKE_CURRENT_BINARY_DIR}/env-hooks/00.utilrb.sh
+  DESTINATION etc/orocos/profile.d
+)
+
+message(STATUS "RUBY_RUBY_LIB_DIR: ${RUBY_RUBY_LIB_DIR}")
+message(STATUS "RUBY_ARCH_DIR: ${RUBY_ARCH_DIR}")
+
 # Install an env-hook if catkin is found
 find_package(catkin QUIET)
 if(catkin_FOUND)
diff --git a/env-hooks/00.utilrb.sh.in b/env-hooks/00.utilrb.sh.in
index e09333e..46433d6 100644
--- a/env-hooks/00.utilrb.sh.in
+++ b/env-hooks/00.utilrb.sh.in
@@ -2,9 +2,31 @@
 
 export RUBYOPT=-rubygems
 
-export RUBYLIB=@CMAKE_INSTALL_PREFIX@/@RUBY_EXTENSIONS_INSTALL_DIR@:@CMAKE_INSTALL_PREFIX@/@RUBY_LIBRARY_INSTALL_DIR@
+for path in "@CMAKE_INSTALL_PREFIX@/@RUBY_LIBRARY_INSTALL_DIR@" "@CMAKE_INSTALL_PREFIX@/@RUBY_EXTENSIONS_INSTALL_DIR@"; do
+  if [ ! -d "$path" ]; then
+    continue
+  fi
 
-if [ `uname -s` = Darwin ]; then
-    export RUBYLIB=$RUBYLIB:@RUBY_ARCH_DIR@:@RUBY_RUBY_LIB_DIR@
-fi
+  if [ -z "$RUBYLIB" ]; then
+    RUBYLIB="$path"
+  elif ! echo "$RUBYLIB" | grep -q "$path"; then
+    RUBYLIB="$path:$RUBYLIB"
+  fi
+  export RUBYLIB
 
+  if [ `uname -s` != Darwin ]; then
+    if [ -z "$LD_LIBRARY_PATH" ]; then
+      LD_LIBRARY_PATH="$path"
+    elif ! echo "$LD_LIBRARY_PATH" | grep -q "$path"; then
+      LD_LIBRARY_PATH="$path:$LD_LIBRARY_PATH"
+    fi
+    export LD_LIBRARY_PATH
+  else
+    if [ -z "$DYLD_LIBRARY_PATH" ]; then
+      DYLD_LIBRARY_PATH="$path"
+    elif ! echo "$DYLD_LIBRARY_PATH" | grep -q "$path"; then
+      DYLD_LIBRARY_PATH="$path:$DYLD_LIBRARY_PATH"
+    fi
+    export DYLD_LIBRARY_PATH
+  fi
+done
\ No newline at end of file