--- a/setup_configure.py
+++ b/setup_configure.py
@@ -68,6 +68,10 @@ class BuildConfig:
         mpi = mpi_enabled()
         h5_inc, h5_lib, h5_macros = cls._find_hdf5_compiler_settings(mpi)

+        if os.environ.get('HDF5_HAS_ROS3', None) == '1':
+            h5_version = validate_version(os.environ.get('HDF5_VERSION'))
+            return cls(h5_inc, h5_lib, h5_macros, h5_version, mpi, True)
+
         h5_version_s = os.environ.get('HDF5_VERSION')
         if h5_version_s:
             h5_version = validate_version(h5_version_s)