diff --git a/ament_java_resources/CMakeLists.txt b/ament_java_resources/CMakeLists.txt
index fab14ab..a0bbf00 100644
--- a/ament_java_resources/CMakeLists.txt
+++ b/ament_java_resources/CMakeLists.txt
@@ -6,12 +6,22 @@ find_package(ament_cmake REQUIRED)
 
 ament_index_register_resource(
     "templates"
-    CONTENT_FILE "classpath.dsv.template"
-    PACKAGE_NAME "ament_build_type_gradle_classpath_dsv")
+    CONTENT_FILE "classpath.sh.template"
+    PACKAGE_NAME "ament_build_type_gradle_classpath_sh")
 
 ament_index_register_resource(
     "templates"
-    CONTENT_FILE "jni_library_path.dsv.template"
-    PACKAGE_NAME "ament_build_type_gradle_jni_library_path_dsv")
+    CONTENT_FILE "classpath.bat.template"
+    PACKAGE_NAME "ament_build_type_gradle_classpath_bat")
 
+ament_index_register_resource(
+    "templates"
+    CONTENT_FILE "jni_library_path.sh.template"
+    PACKAGE_NAME "ament_build_type_gradle_jni_library_path_sh")
+
+ament_index_register_resource(
+    "templates"
+    CONTENT_FILE "jni_library_path.bat.template"
+    PACKAGE_NAME "ament_build_type_gradle_jni_library_path_bat")
+    
 ament_package()
diff --git a/ament_java_resources/classpath.bat.template b/ament_java_resources/classpath.bat.template
new file mode 100644
index 0000000..6dc448a
--- /dev/null
+++ b/ament_java_resources/classpath.bat.template
@@ -0,0 +1,5 @@
+ament_prepend_unique_value CLASSPATH "."
+REM https://ss64.com/nt/for.html
+FOR %%j IN (@_AMENT_EXPORT_JARS_CLASSPATH@) DO (
+  ament_prepend_unique_value CLASSPATH "%%j"
+)
diff --git a/ament_java_resources/classpath.dsv.template b/ament_java_resources/classpath.dsv.template
deleted file mode 100644
index 428e14d..0000000
--- a/ament_java_resources/classpath.dsv.template
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;CLASSPATH;@_AMENT_EXPORT_JARS_CLASSPATH@
diff --git a/ament_java_resources/classpath.sh.template b/ament_java_resources/classpath.sh.template
new file mode 100644
index 0000000..fc8ace3
--- /dev/null
+++ b/ament_java_resources/classpath.sh.template
@@ -0,0 +1,27 @@
+if [ -n "$ZSH_VERSION" ]; then
+  if [[ $options[shwordsplit] = off ]]; then
+    _AMENT_JAVA_SH_WORD_SPLIT=1
+    setopt shwordsplit
+  fi
+fi
+
+ament_prepend_unique_value CLASSPATH "."
+_AMENT_JAVA_IFS=$IFS
+IFS=";"
+jars="@_AMENT_EXPORT_JARS_CLASSPATH@"
+
+for jar in $jars
+do
+  ament_prepend_unique_value CLASSPATH "$jar"
+done
+
+IFS=$_AMENT_JAVA_IFS
+
+unset jar
+unset jars
+unset AMENT_JAVA_IFS
+
+if [ -n "$_AMENT_JAVA_SH_WORD_SPLIT" ]; then
+  unsetopt shwordsplit
+  unset _AMENT_JAVA_SH_WORD_SPLIT
+fi
diff --git a/ament_java_resources/jni_library_path.bat.template b/ament_java_resources/jni_library_path.bat.template
new file mode 100644
index 0000000..f759d3a
--- /dev/null
+++ b/ament_java_resources/jni_library_path.bat.template
@@ -0,0 +1 @@
+ament_prepend_unique_value PATH "%AMENT_CURRENT_PREFIX%\lib\jni"
diff --git a/ament_java_resources/jni_library_path.dsv.template b/ament_java_resources/jni_library_path.dsv.template
deleted file mode 100644
index 640bff5..0000000
--- a/ament_java_resources/jni_library_path.dsv.template
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;@JNI_LIB_ENV_VAR@;lib/jni
diff --git a/ament_java_resources/jni_library_path.sh.template b/ament_java_resources/jni_library_path.sh.template
new file mode 100644
index 0000000..f2ccd76
--- /dev/null
+++ b/ament_java_resources/jni_library_path.sh.template
@@ -0,0 +1,14 @@
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+if [ $_IS_DARWIN -eq 0 ]; then
+  ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib/jni"
+else
+  ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib/jni"
+fi
+unset _IS_DARWIN