diff --git a/rviz_assimp_vendor/CMakeLists.txt b/rviz_assimp_vendor/CMakeLists.txt
index 4eebc55c4..47c066b4e 100644
--- a/rviz_assimp_vendor/CMakeLists.txt
+++ b/rviz_assimp_vendor/CMakeLists.txt
@@ -52,6 +52,72 @@ macro(build_assimp)
   )
 endmacro()
 
+# Copy and fix the assimp config files on Ubuntu, in order to suppress a warning.
+# This should be removed once upstream is updated to assimp-0.5.1, see:
+#   https://github.com/ros2/rviz/issues/524
+#   https://bugs.launchpad.net/ubuntu/+source/assimp/+bug/1869405
+### BEGIN HACKS
+set(IS_UBUNTU FALSE)
+if(UNIX AND NOT APPLE)
+  find_program(LSB_RELEASE_EXEC lsb_release)
+  if(EXISTS "${LSB_RELEASE_EXEC}")
+    execute_process(COMMAND ${LSB_RELEASE_EXEC} -is
+        OUTPUT_VARIABLE LSB_RELEASE_ID_SHORT
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+  else()
+    set(LSB_RELEASE_ID_SHORT "Unknown")
+  endif()
+
+  if(${LSB_RELEASE_ID_SHORT} STREQUAL "Ubuntu")
+    set(IS_UBUNTU TRUE)
+  endif()
+endif()
+
+if(IS_UBUNTU)
+  file(GLOB_RECURSE assimp_target_files "/usr/lib/*/cmake/assimp-5.0/assimpTargets.cmake")
+  list(LENGTH assimp_target_files assimp_target_files_len)
+  if(assimp_target_files_len EQUAL 0)
+    message(FATAL_ERROR "failed to find assimpTargets.cmake as expected")
+  endif()
+  if(NOT assimp_target_files_len EQUAL 1)
+    message(FATAL_ERROR "found multiple assimpTargets.cmake files, unexpectedly")
+  endif()
+  list(GET assimp_target_files 0 assimp_target_file)
+
+  get_filename_component(assimp_target_dir "${assimp_target_file}" DIRECTORY)
+  set(new_assimp_target_dir "${CMAKE_CURRENT_BINARY_DIR}/assimp-0.5")
+
+  file(READ "${assimp_target_dir}/assimpTargets.cmake" assimp_targets_content)
+  string(REPLACE
+    "if(ON)"
+    "set(WORKAROUND ON)\nif(WORKAROUND)"
+    assimp_targets_content
+    ${assimp_targets_content})
+  file(WRITE "${new_assimp_target_dir}/assimpTargets.cmake" "${assimp_targets_content}")
+  file(READ "${assimp_target_dir}/assimpTargets-release.cmake" assimp_targets_content)
+  string(REPLACE
+    "if(ON)"
+    "set(WORKAROUND ON)\nif(WORKAROUND)"
+    assimp_targets_content
+    ${assimp_targets_content})
+  file(WRITE "${new_assimp_target_dir}/assimpTargets-release.cmake" "${assimp_targets_content}")
+  file(
+    COPY "${assimp_target_dir}/assimp-config.cmake"
+    DESTINATION "${new_assimp_target_dir}")
+  file(
+    COPY "${assimp_target_dir}/assimp-config-version.cmake"
+    DESTINATION "${new_assimp_target_dir}")
+  set(assimp_DIR "${new_assimp_target_dir}")
+
+  install(
+    DIRECTORY
+      ${new_assimp_target_dir}/
+    DESTINATION
+      ${CMAKE_INSTALL_PREFIX}/opt/rviz_assimp_vendor_custom_config
+  )
+endif()
+### END HACKS
 find_package(assimp QUIET)
 
 if(NOT assimp_FOUND OR "${assimp_VERSION}" VERSION_LESS 4.1.0)
diff --git a/rviz_assimp_vendor/rviz_assimp_vendor-extras.cmake.in b/rviz_assimp_vendor/rviz_assimp_vendor-extras.cmake.in
index 8f8133d4f..971971563 100644
--- a/rviz_assimp_vendor/rviz_assimp_vendor-extras.cmake.in
+++ b/rviz_assimp_vendor/rviz_assimp_vendor-extras.cmake.in
@@ -1,3 +1,30 @@
+# Use custom CMake config files for assimp on Ubuntu to work around a cmake warning.
+# This should be removed once upstream is updated to assimp-0.5.1, see:
+#   https://github.com/ros2/rviz/issues/524
+#   https://bugs.launchpad.net/ubuntu/+source/assimp/+bug/1869405
+### BEGIN HACKS
+set(IS_UBUNTU FALSE)
+if(UNIX AND NOT APPLE)
+  find_program(LSB_RELEASE_EXEC lsb_release)
+  if(EXISTS "${LSB_RELEASE_EXEC}")
+    execute_process(COMMAND ${LSB_RELEASE_EXEC} -is
+        OUTPUT_VARIABLE LSB_RELEASE_ID_SHORT
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+  else()
+    set(LSB_RELEASE_ID_SHORT "Unknown")
+  endif()
+
+  if(${LSB_RELEASE_ID_SHORT} STREQUAL "Ubuntu")
+    set(IS_UBUNTU TRUE)
+  endif()
+endif()
+
+if(IS_UBUNTU)
+  set(assimp_DIR "${@PROJECT_NAME@_DIR}/../../../opt/rviz_assimp_vendor_custom_config")
+endif()
+### END HACKS
+
 find_package(assimp QUIET)
 
 if(NOT assimp_FOUND OR "${assimp_VERSION}" VERSION_LESS 4.1.0)