diff --git a/ament_cmake_vendor_package/cmake/ament_vendor.cmake b/ament_cmake_vendor_package/cmake/ament_vendor.cmake
index 4910e9d3..e8b19e4f 100644
--- a/ament_cmake_vendor_package/cmake/ament_vendor.cmake
+++ b/ament_cmake_vendor_package/cmake/ament_vendor.cmake
@@ -66,9 +66,17 @@ macro(ament_vendor TARGET_NAME)
       "${_ARG_UNPARSED_ARGUMENTS}")
   endif()
 
+  set(ENV_VCS_URL_NAME ${TARGET_NAME}_VCS_URL)
+  if (DEFINED ENV{${ENV_VCS_URL_NAME}})
+    message(STATUS "Use mirror of ${ENV_VCS_URL_NAME}: $ENV{${ENV_VCS_URL_NAME}}")
+    set(_ARG_VCS_URL $ENV{${ENV_VCS_URL_NAME}})
+  endif()
   if(NOT _ARG_VCS_URL)
     message(FATAL_ERROR "ament_vendor() must be called with the VCS_URL argument")
+  else()
+    message(STATUS "${TARGET_NAME} VCS_URL: ${_ARG_VCS_URL}")
   endif()
+
   if(_ARG_VCS_TYPE STREQUAL "path")
     if(_ARG_SOURCE_SUBDIR)
       message(FATAL_ERROR "ament_vendor() cannot use VCS_TYPE 'path' with SOURCE_SUBDIR argument")