diff --git a/include/ignition/sensors/AirPressureSensor.hh b/include/ignition/sensors/AirPressureSensor.hh
index d3db6b8b..4655944a 100644
--- a/include/ignition/sensors/AirPressureSensor.hh
+++ b/include/ignition/sensors/AirPressureSensor.hh
@@ -21,6 +21,7 @@
 
 #include <sdf/sdf.hh>
 
+#include <ignition/common/SuppressWarning.hh>
 #include <ignition/common/Time.hh>
 
 #include <ignition/sensors/config.hh>
@@ -84,9 +85,11 @@ namespace ignition
       /// \return Verical reference position in meters
       public: double ReferenceAltitude() const;
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<AirPressureSensorPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/include/ignition/sensors/AltimeterSensor.hh b/include/ignition/sensors/AltimeterSensor.hh
index af582786..59ec82f7 100644
--- a/include/ignition/sensors/AltimeterSensor.hh
+++ b/include/ignition/sensors/AltimeterSensor.hh
@@ -21,6 +21,7 @@
 
 #include <sdf/sdf.hh>
 
+#include <ignition/common/SuppressWarning.hh>
 #include <ignition/common/Time.hh>
 
 #include <ignition/sensors/config.hh>
@@ -101,9 +102,11 @@ namespace ignition
       /// \return Vertical velocity in meters per second
       public: double VerticalVelocity() const;
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<AltimeterSensorPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/include/ignition/sensors/CameraSensor.hh b/include/ignition/sensors/CameraSensor.hh
index 6da658fc..f7d565ef 100644
--- a/include/ignition/sensors/CameraSensor.hh
+++ b/include/ignition/sensors/CameraSensor.hh
@@ -23,10 +23,18 @@
 
 #include <sdf/sdf.hh>
 
-#include <ignition/common/PluginMacros.hh>
+#include <ignition/common/SuppressWarning.hh>
 #include <ignition/common/Time.hh>
 
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
 #include <ignition/rendering/Camera.hh>
 
 #include "ignition/sensors/camera/Export.hh"
@@ -162,9 +170,11 @@ namespace ignition
       /// \param[in] _scene Pointer to the new scene.
       private: void OnSceneChange(ignition::rendering::ScenePtr /*_scene*/);
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<CameraSensorPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/include/ignition/sensors/DepthCameraSensor.hh b/include/ignition/sensors/DepthCameraSensor.hh
index e5fd8f45..4116e5b4 100644
--- a/include/ignition/sensors/DepthCameraSensor.hh
+++ b/include/ignition/sensors/DepthCameraSensor.hh
@@ -24,11 +24,17 @@
 #include <sdf/sdf.hh>
 
 #include <ignition/common/Event.hh>
-
-#include <ignition/common/PluginMacros.hh>
+#include <ignition/common/SuppressWarning.hh>
 #include <ignition/common/Time.hh>
 
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include <ignition/rendering/DepthCamera.hh>
 
@@ -158,9 +164,12 @@ namespace ignition
       private: void OnSceneChange(ignition::rendering::ScenePtr /*_scene*/)
               { }
 
+
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<DepthCameraSensorPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/include/ignition/sensors/GpuLidarSensor.hh b/include/ignition/sensors/GpuLidarSensor.hh
index a7376192..9031a47b 100644
--- a/include/ignition/sensors/GpuLidarSensor.hh
+++ b/include/ignition/sensors/GpuLidarSensor.hh
@@ -22,6 +22,8 @@
 
 #include <sdf/sdf.hh>
 
+#include <ignition/common/SuppressWarning.hh>
+
 #include <ignition/rendering/GpuRays.hh>
 
 #include "ignition/sensors/gpu_lidar/Export.hh"
@@ -123,9 +125,11 @@ namespace ignition
                   unsigned int _heighti, unsigned int _channels,
                   const std::string &/*_format*/)> _subscriber) override;
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<GpuLidarSensorPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/include/ignition/sensors/ImuSensor.hh b/include/ignition/sensors/ImuSensor.hh
index c490d0dc..51e9f77f 100644
--- a/include/ignition/sensors/ImuSensor.hh
+++ b/include/ignition/sensors/ImuSensor.hh
@@ -21,6 +21,7 @@
 
 #include <sdf/sdf.hh>
 
+#include <ignition/common/SuppressWarning.hh>
 #include <ignition/common/Time.hh>
 #include <ignition/math/Pose3.hh>
 
@@ -128,9 +129,11 @@ namespace ignition
       /// \return Gravity vectory in meters per second squared.
       public: math::Vector3d Gravity() const;
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<ImuSensorPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/include/ignition/sensors/Lidar.hh b/include/ignition/sensors/Lidar.hh
index 44f5c780..bcbb587d 100644
--- a/include/ignition/sensors/Lidar.hh
+++ b/include/ignition/sensors/Lidar.hh
@@ -21,6 +21,7 @@
 #include <string>
 #include <vector>
 
+#include <ignition/common/SuppressWarning.hh>
 #include <ignition/common/Event.hh>
 
 #include "ignition/sensors/lidar/Export.hh"
@@ -242,8 +243,10 @@ namespace ignition
       // Documentation inherited
       public: virtual bool IsActive() const;
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Just a mutex for thread safety
       public: mutable std::mutex lidarMutex;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
 
       /// \brief Raw buffer of laser data.
       public: float *laserBuffer = nullptr;
@@ -263,9 +266,11 @@ namespace ignition
                   unsigned int _heighti, unsigned int _channels,
                   const std::string &/*_format*/)> _subscriber);
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<LidarPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/include/ignition/sensors/LogicalCameraSensor.hh b/include/ignition/sensors/LogicalCameraSensor.hh
index 54a1b179..d67ba66c 100644
--- a/include/ignition/sensors/LogicalCameraSensor.hh
+++ b/include/ignition/sensors/LogicalCameraSensor.hh
@@ -23,12 +23,20 @@
 
 #include <sdf/sdf.hh>
 
-#include <ignition/common/PluginMacros.hh>
+#include <ignition/plugin/RegisterMore.hh>
+#include <ignition/common/SuppressWarning.hh>
 #include <ignition/common/Time.hh>
 
 #include <ignition/math/Angle.hh>
 
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include "ignition/sensors/config.hh"
 #include "ignition/sensors/Export.hh"
@@ -110,9 +118,11 @@ namespace ignition
       /// \return List of detected models.
       public: msgs::LogicalCameraImage Image() const;
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<LogicalCameraSensorPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/include/ignition/sensors/MagnetometerSensor.hh b/include/ignition/sensors/MagnetometerSensor.hh
index fe077167..fe0f483b 100644
--- a/include/ignition/sensors/MagnetometerSensor.hh
+++ b/include/ignition/sensors/MagnetometerSensor.hh
@@ -21,6 +21,7 @@
 
 #include <sdf/sdf.hh>
 
+#include <ignition/common/SuppressWarning.hh>
 #include <ignition/common/Time.hh>
 #include <ignition/math/Pose3.hh>
 
@@ -97,9 +98,11 @@ namespace ignition
       /// \return Magnetic field vector in body frame
       public: math::Vector3d MagneticField() const;
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<MagnetometerSensorPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/include/ignition/sensors/Manager.hh b/include/ignition/sensors/Manager.hh
index 75dd14b7..03619302 100644
--- a/include/ignition/sensors/Manager.hh
+++ b/include/ignition/sensors/Manager.hh
@@ -22,6 +22,7 @@
 #include <type_traits>
 #include <vector>
 #include <sdf/sdf.hh>
+#include <ignition/common/SuppressWarning.hh>
 #include <ignition/common/Time.hh>
 #include <ignition/common/Console.hh>
 #include <ignition/sensors/config.hh>
@@ -153,6 +154,14 @@ namespace ignition
       /// is returned on erro.
       public: ignition::sensors::SensorId CreateSensor(sdf::ElementPtr _sdf);
 
+      /// \brief Add a sensor from a sensor instance.
+      /// \sa Sensor()
+      /// \param[in] _sensor pointer to the sensor
+      /// \return A sensor id that refers to the created sensor. NO_SENSOR
+      /// is returned on error.
+      public: ignition::sensors::SensorId AddSensor(
+        std::unique_ptr<sensors::Sensor> _sensor);
+
       /// \brief Create a sensor from SDF without a known sensor type.
       ///
       ///   This creates sensors by looking at the given sdf element.
@@ -207,8 +216,10 @@ namespace ignition
       private: ignition::sensors::SensorId LoadSensorPlugin(
                    const std::string &_filename, sdf::ElementPtr _sdf);
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief private data pointer
       private: std::unique_ptr<ManagerPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/include/ignition/sensors/RenderingEvents.hh b/include/ignition/sensors/RenderingEvents.hh
index f9959863..393940ba 100644
--- a/include/ignition/sensors/RenderingEvents.hh
+++ b/include/ignition/sensors/RenderingEvents.hh
@@ -19,6 +19,7 @@
 #define IGNITION_SENSORS_RENDERINGEVENTS_HH_
 
 #include <ignition/common/Event.hh>
+#include <ignition/common/SuppressWarning.hh>
 #include <ignition/rendering/Scene.hh>
 #include <ignition/sensors/config.hh>
 #include <ignition/sensors/rendering/Export.hh>
@@ -43,10 +44,12 @@ namespace ignition
                   std::function<void(const ignition::rendering::ScenePtr &)>
                   _callback);
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Event that is used to trigger callbacks when the scene
       /// is changed
       public: static ignition::common::EventT<
               void(const ignition::rendering::ScenePtr &)> sceneEvent;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/include/ignition/sensors/RenderingSensor.hh b/include/ignition/sensors/RenderingSensor.hh
index 36df85e3..504b0daa 100644
--- a/include/ignition/sensors/RenderingSensor.hh
+++ b/include/ignition/sensors/RenderingSensor.hh
@@ -19,6 +19,8 @@
 
 #include <memory>
 
+#include <ignition/common/SuppressWarning.hh>
+
 #include <ignition/rendering/Scene.hh>
 #include <ignition/rendering/Sensor.hh>
 
@@ -76,9 +78,11 @@ namespace ignition
       /// \param[in] _sensor Sensor to add.
       protected: void AddSensor(rendering::SensorPtr _sensor);
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \internal
       /// \brief Data pointer for private data
       private: std::unique_ptr<RenderingSensorPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/include/ignition/sensors/RgbdCameraSensor.hh b/include/ignition/sensors/RgbdCameraSensor.hh
index 17c563a2..d38deab6 100644
--- a/include/ignition/sensors/RgbdCameraSensor.hh
+++ b/include/ignition/sensors/RgbdCameraSensor.hh
@@ -21,6 +21,7 @@
 
 #include <sdf/sdf.hh>
 
+#include <ignition/common/SuppressWarning.hh>
 #include <ignition/common/Time.hh>
 
 #include "ignition/sensors/CameraSensor.hh"
@@ -62,6 +63,11 @@ namespace ignition
       /// \return true if loading was successful
       public: virtual bool Load(const sdf::Sensor &_sdf) override;
 
+      /// \brief Load the sensor with SDF parameters.
+      /// \param[in] _sdf SDF Sensor parameters.
+      /// \return true if loading was successful
+      public: virtual bool Load(sdf::ElementPtr _sdf) override;
+
       /// \brief Initialize values in the sensor
       /// \return True on success
       public: virtual bool Init() override;
@@ -95,9 +101,11 @@ namespace ignition
       /// \return True on success.
       private: bool CreateCameras();
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<RgbdCameraSensorPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/include/ignition/sensors/Sensor.hh b/include/ignition/sensors/Sensor.hh
index adcc1db8..144f1438 100644
--- a/include/ignition/sensors/Sensor.hh
+++ b/include/ignition/sensors/Sensor.hh
@@ -17,11 +17,19 @@
 #ifndef IGNITION_SENSORS_SENSOR_HH_
 #define IGNITION_SENSORS_SENSOR_HH_
 
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs/header.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include <memory>
 #include <string>
 
+#include <ignition/common/SuppressWarning.hh>
 #include <ignition/common/Time.hh>
 #include <ignition/math/Pose3.hh>
 #include <ignition/sensors/config.hh>
@@ -210,9 +218,11 @@ namespace ignition
       public: void AddSequence(ignition::msgs::Header *_msg,
                   const std::string &_seqKey = "default");
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \internal
       /// \brief Data pointer for private data
       private: std::unique_ptr<SensorPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/include/ignition/sensors/SensorFactory.hh b/include/ignition/sensors/SensorFactory.hh
index 365566fe..73fe7e72 100644
--- a/include/ignition/sensors/SensorFactory.hh
+++ b/include/ignition/sensors/SensorFactory.hh
@@ -23,7 +23,8 @@
 #include <sdf/sdf.hh>
 
 #include <ignition/common/Console.hh>
-#include <ignition/common/PluginMacros.hh>
+#include <ignition/common/SuppressWarning.hh>
+#include <ignition/plugin/Loader.hh>
 
 #include <ignition/sensors/config.hh>
 #include <ignition/sensors/Export.hh>
@@ -42,9 +43,6 @@ namespace ignition
     /// \brief Base sensor plugin interface
     class IGNITION_SENSORS_VISIBLE SensorPlugin
     {
-      /// \brief Allows using shorter APIS in common::PluginLoader
-      public: IGN_COMMON_SPECIALIZE_INTERFACE(ignition::sensors::SensorPlugin)
-
       /// \brief Instantiate new sensor
       /// \return New sensor
       public: virtual Sensor *New() = 0;
@@ -176,13 +174,15 @@ namespace ignition
       private: std::shared_ptr<SensorPlugin> LoadSensorPlugin(
           const std::string &_filename);
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief private data pointer
       private: std::unique_ptr<SensorFactoryPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
 
     /// \brief Sensor registration macro
     #define IGN_SENSORS_REGISTER_SENSOR(classname) \
-    IGN_COMMON_REGISTER_SINGLE_PLUGIN(\
+    IGNITION_ADD_PLUGIN(\
        ignition::sensors::SensorTypePlugin<classname>, \
        ignition::sensors::SensorPlugin)
     }
diff --git a/include/ignition/sensors/ThermalCameraSensor.hh b/include/ignition/sensors/ThermalCameraSensor.hh
index 3eab5123..53d2571a 100644
--- a/include/ignition/sensors/ThermalCameraSensor.hh
+++ b/include/ignition/sensors/ThermalCameraSensor.hh
@@ -24,11 +24,17 @@
 #include <sdf/sdf.hh>
 
 #include <ignition/common/Event.hh>
-
-#include <ignition/common/PluginMacros.hh>
+#include <ignition/common/SuppressWarning.hh>
 #include <ignition/common/Time.hh>
 
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include <ignition/rendering/ThermalCamera.hh>
 
@@ -162,9 +168,11 @@ namespace ignition
       private: void OnSceneChange(ignition::rendering::ScenePtr /*_scene*/)
               { }
 
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<ThermalCameraSensorPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }
diff --git a/src/AirPressureSensor.cc b/src/AirPressureSensor.cc
index cbdf5124..2cfa0de1 100644
--- a/src/AirPressureSensor.cc
+++ b/src/AirPressureSensor.cc
@@ -15,10 +15,20 @@
  *
 */
 
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs/fluid_pressure.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
 #include <ignition/common/Profiler.hh>
 #include <ignition/transport/Node.hh>
 
+#include <ignition/plugin/Register.hh>
+
 #include "ignition/sensors/GaussianNoiseModel.hh"
 #include "ignition/sensors/Noise.hh"
 #include "ignition/sensors/SensorTypes.hh"
diff --git a/src/AltimeterSensor.cc b/src/AltimeterSensor.cc
index 7d29a9b7..1724da97 100644
--- a/src/AltimeterSensor.cc
+++ b/src/AltimeterSensor.cc
@@ -16,12 +16,13 @@
 */
 
 #include <ignition/common/Profiler.hh>
+#include <ignition/plugin/Register.hh>
 #include <ignition/transport/Node.hh>
 
+#include "ignition/sensors/AltimeterSensor.hh"
 #include "ignition/sensors/Noise.hh"
-#include "ignition/sensors/SensorTypes.hh"
 #include "ignition/sensors/SensorFactory.hh"
-#include "ignition/sensors/AltimeterSensor.hh"
+#include "ignition/sensors/SensorTypes.hh"
 
 using namespace ignition;
 using namespace sensors;
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index bde2e842..f78905c9 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -8,6 +8,19 @@ set (sources
   SensorTypes.cc
 )
 
+set(rendering_sources
+  RenderingSensor.cc
+  RenderingEvents.cc
+  ImageGaussianNoiseModel.cc
+  ImageNoise.cc
+)
+
+set (gtest_sources
+  Manager_TEST.cc
+  Noise_TEST.cc
+  Sensor_TEST.cc
+)
+
 # Create the library target.
 ign_create_core_library(SOURCES ${sources} CXX_STANDARD 14)
 
@@ -19,23 +32,47 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
     ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER}
     ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
     ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
+    ignition-plugin${IGN_PLUGIN_VER}::loader
     sdformat${SDF_VER}::sdformat${SDF_VER}
   PRIVATE
     ignition-common${IGN_COMMON_VER}::profiler
 )
-
-set(rendering_sources
-  RenderingSensor.cc
-  RenderingEvents.cc
-  ImageGaussianNoiseModel.cc
-  ImageNoise.cc
-)
+target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC DepthPoints_EXPORTS)
 
 ign_add_component(rendering SOURCES ${rendering_sources} GET_TARGET_NAME rendering_target)
 target_link_libraries(${rendering_target}
   PUBLIC
     ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
-    )
+)
+
+if (MSVC)
+  # Warning #4251 is the "dll-interface" warning that tells you when types used
+  # by a class are not being exported. These generated source files have private
+  # members that don't get exported, so they trigger this warning. However, the
+  # warning is not important since those members do not need to be interfaced
+  # with.
+  set_source_files_properties(
+      ${gtest_sources}
+      ${rendering_sources}
+      ${sources}
+      AirPressureSensor.cc
+      AltimeterSensor.cc
+      Camera.cc
+      CameraSensor.cc
+      Camera_TEST.cc
+      DepthCameraSensor.cc
+      GpuLidarSensor.cc
+      ImuSensor.cc
+      ImuSensor_TEST.cc
+      Lidar.cc
+      Lidar_TEST.cc
+      LogicalCameraSensor.cc
+      MagnetometerSensor.cc
+      RgbdCameraSensor.cc
+      ThermalCameraSensor.cc
+    COMPILE_FLAGS "/wd4251 /wd4146"
+  )
+endif()
 
 
 set(camera_sources CameraSensor.cc)
@@ -47,9 +84,10 @@ target_link_libraries(${camera_target}
   PUBLIC
     ${rendering_target}
   PRIVATE
+    ignition-plugin${IGN_PLUGIN_VER}::register
     ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
     ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
-    )
+)
 
 set(depth_camera_sources DepthCameraSensor.cc)
 ign_add_component(depth_camera SOURCES ${depth_camera_sources} GET_TARGET_NAME depth_camera_target)
@@ -59,7 +97,7 @@ target_link_libraries(${depth_camera_target}
     ${camera_target}
     ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
     ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
-    )
+)
 
 set(lidar_sources Lidar.cc)
 ign_add_component(lidar SOURCES ${lidar_sources} GET_TARGET_NAME lidar_target)
@@ -68,9 +106,10 @@ target_link_libraries(${lidar_target}
   PUBLIC
     ${rendering_target}
   PRIVATE
+    ignition-plugin${IGN_PLUGIN_VER}::register
     ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
     ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
-    )
+)
 
 set(gpu_lidar_sources GpuLidarSensor.cc)
 ign_add_component(gpu_lidar SOURCES ${gpu_lidar_sources} GET_TARGET_NAME gpu_lidar_target)
@@ -80,28 +119,45 @@ target_link_libraries(${gpu_lidar_target}
     ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
     ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
     ${lidar_target}
-    )
+)
 
 set(logical_camera_sources LogicalCameraSensor.cc)
 ign_add_component(logical_camera SOURCES ${logical_camera_sources} GET_TARGET_NAME logical_camera_target)
 target_compile_definitions(${logical_camera_target} PUBLIC LogicalCameraSensor_EXPORTS)
 target_link_libraries(${logical_camera_target}
   PRIVATE
+    ignition-plugin${IGN_PLUGIN_VER}::register
     ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
     ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
-    )
+)
 
 set(magnetometer_sources MagnetometerSensor.cc)
 ign_add_component(magnetometer SOURCES ${magnetometer_sources} GET_TARGET_NAME magnetometer_target)
+target_link_libraries(${magnetometer_target}
+  PRIVATE
+    ignition-plugin${IGN_PLUGIN_VER}::register
+)
 
 set(imu_sources ImuSensor.cc)
 ign_add_component(imu SOURCES ${imu_sources} GET_TARGET_NAME imu_target)
+target_link_libraries(${imu_target}
+  PRIVATE
+    ignition-plugin${IGN_PLUGIN_VER}::register
+)
 
 set(altimeter_sources AltimeterSensor.cc)
 ign_add_component(altimeter SOURCES ${altimeter_sources} GET_TARGET_NAME altimeter_target)
+target_link_libraries(${altimeter_target}
+  PRIVATE
+    ignition-plugin${IGN_PLUGIN_VER}::register
+)
 
 set(air_pressure_sources AirPressureSensor.cc)
 ign_add_component(air_pressure SOURCES ${air_pressure_sources} GET_TARGET_NAME air_pressure_target)
+target_link_libraries(${air_pressure_target}
+  PRIVATE
+    ignition-plugin${IGN_PLUGIN_VER}::register
+)
 
 set(rgbd_camera_sources RgbdCameraSensor.cc)
 ign_add_component(rgbd_camera SOURCES ${rgbd_camera_sources} GET_TARGET_NAME rgbd_camera_target)
@@ -111,7 +167,7 @@ target_link_libraries(${rgbd_camera_target}
     ${camera_target}
     ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
     ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
-    )
+)
 
 set(thermal_camera_sources ThermalCameraSensor.cc)
 ign_add_component(thermal_camera SOURCES ${thermal_camera_sources} GET_TARGET_NAME thermal_camera_target)
@@ -120,13 +176,6 @@ target_link_libraries(${thermal_camera_target}
     ${camera_target}
     ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
     ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
-    )
-
-
-set (gtest_sources
-  Manager_TEST.cc
-  Noise_TEST.cc
-  Sensor_TEST.cc
 )
 
 # Build the unit tests.
diff --git a/src/CameraSensor.cc b/src/CameraSensor.cc
index 3e3046d1..5421ec64 100644
--- a/src/CameraSensor.cc
+++ b/src/CameraSensor.cc
@@ -14,7 +14,14 @@
  * limitations under the License.
  *
 */
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs/camera_info.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include <mutex>
 
@@ -24,9 +31,9 @@
 #include <ignition/common/Profiler.hh>
 #include <ignition/common/StringUtils.hh>
 #include <ignition/math/Angle.hh>
-#include <ignition/transport/Node.hh>
-
 #include <ignition/math/Helpers.hh>
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
 
 #include "ignition/sensors/CameraSensor.hh"
 #include "ignition/sensors/ImageGaussianNoiseModel.hh"
diff --git a/src/Camera_TEST.cc b/src/Camera_TEST.cc
index 521070b2..f6118133 100644
--- a/src/Camera_TEST.cc
+++ b/src/Camera_TEST.cc
@@ -17,9 +17,9 @@
 #include <gtest/gtest.h>
 #include <sdf/sdf.hh>
 
-#include <ignition/sensors/Export.hh>
-#include <ignition/sensors/CameraSensor.hh>
-#include <ignition/sensors/Manager.hh>
+#include "ignition/sensors/CameraSensor.hh"
+#include "ignition/sensors/Export.hh"
+#include "ignition/sensors/Manager.hh"
 
 sdf::ElementPtr cameraToBadSdf()
 {
@@ -126,14 +126,13 @@ sdf::ElementPtr CameraToSdf(const std::string &_type,
 //////////////////////////////////////////////////
 TEST(Camera_TEST, CreateCamera)
 {
-  ignition::sensors::Manager mgr;
-
   sdf::ElementPtr camSdf = CameraToSdf("camera", "my_camera", 60.0, "/cam",
       true, true);
 
   // Create a CameraSensor
-  ignition::sensors::CameraSensor *cam =
-    mgr.CreateSensor<ignition::sensors::CameraSensor>(camSdf);
+  std::unique_ptr<ignition::sensors::CameraSensor> cam =
+    std::make_unique<ignition::sensors::CameraSensor>();
+  EXPECT_TRUE(cam->Load(camSdf));
 
   // Make sure the above dynamic cast worked.
   EXPECT_TRUE(cam != nullptr);
@@ -152,9 +151,9 @@ TEST(Camera_TEST, CreateCamera)
   sdf::ElementPtr camBadSdf = cameraToBadSdf();
 
   // Create a CameraSensor
-  ignition::sensors::CameraSensor *badCam =
-    mgr.CreateSensor<ignition::sensors::CameraSensor>(camBadSdf);
-  EXPECT_TRUE(badCam == nullptr);
+  std::unique_ptr<ignition::sensors::CameraSensor> badCam =
+    std::make_unique<ignition::sensors::CameraSensor>();
+  EXPECT_FALSE(badCam->Load(camBadSdf));
 }
 
 /////////////////////////////////////////////////
@@ -175,7 +174,12 @@ TEST(Camera_TEST, Topic)
     auto cameraSdf = CameraToSdf(type, name, updateRate, topic, alwaysOn,
         visualize);
 
-    auto sensorId = mgr.CreateSensor(cameraSdf);
+    // Create a CameraSensor
+    std::unique_ptr<ignition::sensors::CameraSensor> cam =
+      std::make_unique<ignition::sensors::CameraSensor>();
+    EXPECT_TRUE(cam->Load(cameraSdf));
+
+    auto sensorId = mgr.AddSensor(std::move(cam));
     EXPECT_NE(ignition::sensors::NO_SENSOR, sensorId);
 
     auto sensor = mgr.Sensor(sensorId);
@@ -193,7 +197,13 @@ TEST(Camera_TEST, Topic)
     auto cameraSdf = CameraToSdf(type, name, updateRate, topic, alwaysOn,
         visualize);
 
-    auto sensorId = mgr.CreateSensor(cameraSdf);
+    // Create a CameraSensor
+    std::unique_ptr<ignition::sensors::CameraSensor> cam =
+      std::make_unique<ignition::sensors::CameraSensor>();
+    EXPECT_TRUE(cam->Load(cameraSdf));
+
+    auto sensorId = mgr.AddSensor(std::move(cam));
+
     EXPECT_NE(ignition::sensors::NO_SENSOR, sensorId);
 
     auto sensor = mgr.Sensor(sensorId);
@@ -211,7 +221,15 @@ TEST(Camera_TEST, Topic)
     auto cameraSdf = CameraToSdf(type, name, updateRate, topic, alwaysOn,
         visualize);
 
-    auto sensorId = mgr.CreateSensor(cameraSdf);
+    // Create a CameraSensor
+    std::unique_ptr<ignition::sensors::CameraSensor> cam =
+      std::make_unique<ignition::sensors::CameraSensor>();
+    EXPECT_FALSE(cam->Load(cameraSdf));
+
+    cam = nullptr;
+
+    auto sensorId = mgr.AddSensor(std::move(cam));
+
     EXPECT_EQ(ignition::sensors::NO_SENSOR, sensorId);
   }
 }
diff --git a/src/DepthCameraSensor.cc b/src/DepthCameraSensor.cc
index d78822e4..b5e37399 100644
--- a/src/DepthCameraSensor.cc
+++ b/src/DepthCameraSensor.cc
@@ -14,8 +14,14 @@
  * limitations under the License.
  *
 */
-
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs/pointcloud_packed.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include <mutex>
 
@@ -27,6 +33,8 @@
 #include <ignition/math/Angle.hh>
 #include <ignition/math/Helpers.hh>
 
+#include <ignition/plugin/Register.hh>
+
 #include <ignition/transport/Node.hh>
 
 #include "ignition/sensors/DepthCameraSensor.hh"
@@ -160,7 +168,7 @@ bool DepthCameraSensorPrivate::ConvertDepthToImage(
   double factor = 255 / maxDepth;
   for (unsigned int j = 0; j < _height * _width; ++j)
   {
-    unsigned char d = 255 - (_data[j] * factor);
+    unsigned char d = static_cast<unsigned char>(255 - (_data[j] * factor));
     _imageBuffer[j * 3] = d;
     _imageBuffer[j * 3 + 1] = d;
     _imageBuffer[j * 3 + 2] = d;
diff --git a/src/GpuLidarSensor.cc b/src/GpuLidarSensor.cc
index 548e8d2a..12fb58bd 100644
--- a/src/GpuLidarSensor.cc
+++ b/src/GpuLidarSensor.cc
@@ -14,12 +14,22 @@
  * limitations under the License.
  *
 */
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs/pointcloud_packed.pb.h>
-#include <ignition/msgs/Utility.hh>
-#include <ignition/transport/Node.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include <ignition/common/Console.hh>
 #include <ignition/common/Profiler.hh>
+#include <ignition/msgs/Utility.hh>
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
+
 #include "ignition/sensors/GpuLidarSensor.hh"
 #include "ignition/sensors/SensorFactory.hh"
 
diff --git a/src/ImuSensor.cc b/src/ImuSensor.cc
index 2c9103f4..df8119fb 100644
--- a/src/ImuSensor.cc
+++ b/src/ImuSensor.cc
@@ -14,15 +14,23 @@
  * limitations under the License.
  *
 */
-
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs/imu.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
 #include <ignition/common/Profiler.hh>
+#include <ignition/plugin/Register.hh>
 #include <ignition/transport/Node.hh>
 
+#include "ignition/sensors/ImuSensor.hh"
 #include "ignition/sensors/Noise.hh"
 #include "ignition/sensors/SensorFactory.hh"
 #include "ignition/sensors/SensorTypes.hh"
-#include "ignition/sensors/ImuSensor.hh"
 
 using namespace ignition;
 using namespace sensors;
diff --git a/src/ImuSensor_TEST.cc b/src/ImuSensor_TEST.cc
index 8ee8fd02..a9e77f90 100644
--- a/src/ImuSensor_TEST.cc
+++ b/src/ImuSensor_TEST.cc
@@ -18,11 +18,18 @@
 #include <sdf/sdf.hh>
 
 #include <ignition/math/Helpers.hh>
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs.hh>
-#include <ignition/sensors/Export.hh>
-#include <ignition/sensors/Manager.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
-#include <ignition/sensors/ImuSensor.hh>
+#include "ignition/sensors/Export.hh"
+#include "ignition/sensors/ImuSensor.hh"
+#include "ignition/sensors/Manager.hh"
 
 using namespace ignition;
 
@@ -177,9 +184,6 @@ sdf::ElementPtr ImuSensorToSDF(const std::string &name, double update_rate,
 //////////////////////////////////////////////////
 TEST(ImuSensor_TEST, CreateImuSensor)
 {
-  // Create a sensor manager
-  ignition::sensors::Manager mgr;
-
   const std::string name = "TestImu";
   const std::string topic = "/ignition/sensors/test/imu";
   const double update_rate = 100;
@@ -191,19 +195,14 @@ TEST(ImuSensor_TEST, CreateImuSensor)
   sdf::ElementPtr imuSDF = ImuSensorToSDF(name, update_rate, topic,
     accelNoise, gyroNoise, always_on, visualize);
 
-  // Create an ImuSensor
-  auto sensor = mgr.CreateSensor<ignition::sensors::ImuSensor>(imuSDF);
-
-  // Make sure the above dynamic cast worked.
-  EXPECT_TRUE(sensor != nullptr);
+  std::unique_ptr<ignition::sensors::ImuSensor> sensor =
+    std::make_unique<ignition::sensors::ImuSensor>();
+  EXPECT_TRUE(sensor->Load(imuSDF));
 }
 
 //////////////////////////////////////////////////
 TEST(ImuSensor_TEST, ComputeNoise)
 {
-  // Create a sensor manager
-  ignition::sensors::Manager mgr;
-
   sdf::ElementPtr imuSDF, imuSDF_truth;
 
   {
@@ -235,10 +234,13 @@ TEST(ImuSensor_TEST, ComputeNoise)
       accelNoise, gyroNoise, always_on, visualize);
   }
 
-  // Create an ImuSensor
-  auto sensor_truth = mgr.CreateSensor<ignition::sensors::ImuSensor>(
-      imuSDF_truth);
-  auto sensor = mgr.CreateSensor<ignition::sensors::ImuSensor>(imuSDF);
+  std::unique_ptr<ignition::sensors::ImuSensor> sensor_truth =
+    std::make_unique<ignition::sensors::ImuSensor>();
+  EXPECT_TRUE(sensor_truth->Load(imuSDF_truth));
+
+  std::unique_ptr<ignition::sensors::ImuSensor> sensor =
+    std::make_unique<ignition::sensors::ImuSensor>();
+  EXPECT_TRUE(sensor->Load(imuSDF));
 
   // Make sure the above dynamic cast worked.
   EXPECT_TRUE(sensor != nullptr);
@@ -301,7 +303,3 @@ int main(int argc, char **argv)
   ::testing::InitGoogleTest(&argc, argv);
   return RUN_ALL_TESTS();
 }
-
-
-
-
diff --git a/src/Lidar.cc b/src/Lidar.cc
index b5c6147a..6e55f70f 100644
--- a/src/Lidar.cc
+++ b/src/Lidar.cc
@@ -17,14 +17,15 @@
 #include <ignition/common/Console.hh>
 #include <ignition/common/Event.hh>
 #include <ignition/common/Profiler.hh>
+#include <ignition/plugin/Register.hh>
 #include <ignition/transport/Node.hh>
 #include <sdf/Lidar.hh>
 
+#include "ignition/sensors/GaussianNoiseModel.hh"
 #include "ignition/sensors/Lidar.hh"
 #include "ignition/sensors/Noise.hh"
 #include "ignition/sensors/SensorFactory.hh"
 #include "ignition/sensors/SensorTypes.hh"
-#include "ignition/sensors/GaussianNoiseModel.hh"
 
 using namespace ignition::sensors;
 
@@ -340,7 +341,8 @@ unsigned int Lidar::RayCount() const
 //////////////////////////////////////////////////
 unsigned int Lidar::RangeCount() const
 {
-  return this->RayCount() * this->dataPtr->sdfLidar.HorizontalScanResolution();
+  return static_cast<unsigned int>(this->RayCount() *
+    this->dataPtr->sdfLidar.HorizontalScanResolution());
 }
 
 //////////////////////////////////////////////////
@@ -352,12 +354,12 @@ unsigned int Lidar::VerticalRayCount() const
 //////////////////////////////////////////////////
 unsigned int Lidar::VerticalRangeCount() const
 {
-  int rows = this->VerticalRayCount() *
-    this->dataPtr->sdfLidar.VerticalScanResolution();
+  unsigned int rows = static_cast<unsigned int>(this->VerticalRayCount() *
+    this->dataPtr->sdfLidar.VerticalScanResolution());
   if (rows > 1)
     return rows;
   else
-    return 1;
+    return 1u;
 }
 
 //////////////////////////////////////////////////
diff --git a/src/Lidar_TEST.cc b/src/Lidar_TEST.cc
index 27fe6a4c..e82cd4f2 100644
--- a/src/Lidar_TEST.cc
+++ b/src/Lidar_TEST.cc
@@ -19,12 +19,18 @@
 
 #include <ignition/math/Angle.hh>
 #include <ignition/math/Helpers.hh>
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs.hh>
-#include <ignition/sensors/Export.hh>
-#include <ignition/sensors/Manager.hh>
-
-#include <ignition/sensors/Lidar.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
+#include "ignition/sensors/Export.hh"
+#include "ignition/sensors/Manager.hh"
+#include "ignition/sensors/Lidar.hh"
 
 sdf::ElementPtr LidarToSDF(const std::string &name, double update_rate,
     const std::string &topic, double horz_samples, double horz_resolution,
@@ -93,9 +99,6 @@ void OnNewLaserFrame(int *_scanCounter, float *_scanDest,
 /// \brief Test Creation of a Lidar sensor
 TEST(Lidar_TEST, CreateLaser)
 {
-  // Create a sensor manager
-  ignition::sensors::Manager mgr;
-
   // Create SDF describing a camera sensor
   const std::string name = "TestLidar";
   const std::string topic = "/ignition/sensors/test/lidar";
@@ -119,9 +122,9 @@ TEST(Lidar_TEST, CreateLaser)
     vert_samples, vert_resolution, vert_min_angle, vert_max_angle,
     range_resolution, range_min, range_max, always_on, visualize);
 
-  // Create a CameraSensor
-  ignition::sensors::Lidar *sensor = mgr.CreateSensor<ignition::sensors::Lidar>(
-      lidarSDF);
+  std::unique_ptr<ignition::sensors::Lidar> sensor =
+    std::make_unique<ignition::sensors::Lidar>();
+  EXPECT_TRUE(sensor->Load(lidarSDF));
 
   // Make sure the above dynamic cast worked.
   EXPECT_TRUE(sensor != nullptr);
diff --git a/src/LogicalCameraSensor.cc b/src/LogicalCameraSensor.cc
index 75294581..cd1fbc3e 100644
--- a/src/LogicalCameraSensor.cc
+++ b/src/LogicalCameraSensor.cc
@@ -25,6 +25,8 @@
 #include <ignition/math/Frustum.hh>
 #include <ignition/math/Helpers.hh>
 
+#include <ignition/plugin/Register.hh>
+
 #include "ignition/sensors/SensorFactory.hh"
 #include "ignition/sensors/LogicalCameraSensor.hh"
 
diff --git a/src/MagnetometerSensor.cc b/src/MagnetometerSensor.cc
index 325b92df..64a5effc 100644
--- a/src/MagnetometerSensor.cc
+++ b/src/MagnetometerSensor.cc
@@ -15,15 +15,24 @@
  *
 */
 
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs/magnetometer.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
 #include <ignition/common/Profiler.hh>
+#include <ignition/plugin/Register.hh>
 #include <ignition/transport/Node.hh>
 #include <sdf/Magnetometer.hh>
 
+#include "ignition/sensors/MagnetometerSensor.hh"
 #include "ignition/sensors/Noise.hh"
 #include "ignition/sensors/SensorFactory.hh"
 #include "ignition/sensors/SensorTypes.hh"
-#include "ignition/sensors/MagnetometerSensor.hh"
 
 using namespace ignition;
 using namespace sensors;
diff --git a/src/Manager.cc b/src/Manager.cc
index 9f337279..d3ec3a23 100644
--- a/src/Manager.cc
+++ b/src/Manager.cc
@@ -18,8 +18,7 @@
 #include "ignition/sensors/Manager.hh"
 #include <memory>
 #include <unordered_map>
-#include <ignition/common/PluginLoader.hh>
-#include <ignition/common/Plugin.hh>
+#include <ignition/plugin/Loader.hh>
 #include <ignition/common/Profiler.hh>
 #include <ignition/common/SystemPaths.hh>
 #include <ignition/common/Console.hh>
@@ -108,6 +107,17 @@ void Manager::RunOnce(
   }
 }
 
+/////////////////////////////////////////////////
+ignition::sensors::SensorId Manager::AddSensor(
+  std::unique_ptr<ignition::sensors::Sensor> _sensor)
+{
+  if (!_sensor)
+    return NO_SENSOR;
+  SensorId id = _sensor->Id();
+  this->dataPtr->sensors[id] = std::move(_sensor);
+  return id;
+}
+
 /////////////////////////////////////////////////
 ignition::sensors::SensorId Manager::CreateSensor(const sdf::Sensor &_sdf)
 {
diff --git a/src/Manager_TEST.cc b/src/Manager_TEST.cc
index 791b303e..f6d1213d 100644
--- a/src/Manager_TEST.cc
+++ b/src/Manager_TEST.cc
@@ -16,8 +16,8 @@
 */
 
 #include <gtest/gtest.h>
-#include <ignition/sensors/Manager.hh>
 
+#include "ignition/sensors/Manager.hh"
 
 //////////////////////////////////////////////////
 TEST(Manager, construct)
diff --git a/src/Noise.cc b/src/Noise.cc
index 10f589ba..4d25945a 100644
--- a/src/Noise.cc
+++ b/src/Noise.cc
@@ -23,9 +23,10 @@
 
 #include <functional>
 
-#include <ignition/sensors/Noise.hh>
 #include <ignition/common/Console.hh>
-#include <ignition/sensors/GaussianNoiseModel.hh>
+
+#include "ignition/sensors/GaussianNoiseModel.hh"
+#include "ignition/sensors/Noise.hh"
 
 using namespace ignition;
 using namespace sensors;
diff --git a/src/PointCloudUtil.hh b/src/PointCloudUtil.hh
index 46ad45b0..2339fa92 100644
--- a/src/PointCloudUtil.hh
+++ b/src/PointCloudUtil.hh
@@ -18,7 +18,14 @@
 #ifndef IGNITION_SENSORS_POINTCLOUDUTIL_HH_
 #define IGNITION_SENSORS_POINTCLOUDUTIL_HH_
 
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs/pointcloud_packed.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 #include <ignition/math/Angle.hh>
 
 #include "ignition/sensors/config.hh"
diff --git a/src/RgbdCameraSensor.cc b/src/RgbdCameraSensor.cc
index 48ce5af3..4b3720b7 100644
--- a/src/RgbdCameraSensor.cc
+++ b/src/RgbdCameraSensor.cc
@@ -15,13 +15,22 @@
  *
 */
 
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs/image.pb.h>
 #include <ignition/msgs/pointcloud_packed.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include <ignition/common/Image.hh>
 #include <ignition/common/Profiler.hh>
 #include <ignition/math/Helpers.hh>
 
+#include <ignition/plugin/Register.hh>
+
 #include <ignition/rendering/Camera.hh>
 #include <ignition/rendering/DepthCamera.hh>
 #include <ignition/transport/Node.hh>
@@ -156,6 +165,14 @@ bool RgbdCameraSensor::Init()
   return this->Sensor::Init();
 }
 
+//////////////////////////////////////////////////
+bool RgbdCameraSensor::Load(sdf::ElementPtr _sdf)
+{
+  sdf::Sensor sdfSensor;
+  sdfSensor.Load(_sdf);
+  return this->Load(sdfSensor);
+}
+
 //////////////////////////////////////////////////
 bool RgbdCameraSensor::Load(const sdf::Sensor &_sdf)
 {
diff --git a/src/Sensor.cc b/src/Sensor.cc
index 11400628..cfbacea3 100644
--- a/src/Sensor.cc
+++ b/src/Sensor.cc
@@ -18,11 +18,12 @@
 #include "ignition/sensors/Sensor.hh"
 #include <map>
 #include <vector>
-#include <ignition/sensors/Manager.hh>
 #include <ignition/common/Console.hh>
 #include <ignition/common/Profiler.hh>
 #include <ignition/transport/TopicUtils.hh>
 
+#include "ignition/sensors/Manager.hh"
+
 using namespace ignition::sensors;
 
 
diff --git a/src/SensorFactory.cc b/src/SensorFactory.cc
index b6cb27bf..2286703d 100644
--- a/src/SensorFactory.cc
+++ b/src/SensorFactory.cc
@@ -15,7 +15,6 @@
  *
 */
 
-#include <ignition/common/PluginLoader.hh>
 #include <ignition/common/SystemPaths.hh>
 #include <ignition/common/Console.hh>
 #include "ignition/sensors/config.hh"
@@ -35,7 +34,7 @@ class ignition::sensors::SensorFactoryPrivate
   public: ignition::common::SystemPaths systemPaths;
 
   /// \brief For loading plugins
-  public: ignition::common::PluginLoader pluginLoader;
+  public: ignition::plugin::Loader pluginLoader;
 };
 
 using namespace ignition;
@@ -75,17 +74,22 @@ std::shared_ptr<SensorPlugin> SensorFactory::LoadSensorPlugin(
     return std::shared_ptr<SensorPlugin>();
   }
 
-  auto pluginNames = this->dataPtr->pluginLoader.LoadLibrary(fullPath);
+  auto pluginNames = this->dataPtr->pluginLoader.LoadLib(fullPath);
+
   if (pluginNames.empty())
   {
     ignerr << "Unable to load sensor plugin file for [" << fullPath << "]\n";
     return std::shared_ptr<SensorPlugin>();
   }
 
-  // Assume the first plugin is the one we're interested in
-  std::string pluginName = *(pluginNames.begin());
+  // Assume the last plugin is the one we're interested in
+  std::string pluginName = "";
+  for (auto name : pluginNames)
+  {
+    pluginName = name;
+  }
 
-  common::PluginPtr pluginPtr =
+  plugin::PluginPtr pluginPtr =
       this->dataPtr->pluginLoader.Instantiate(pluginName);
 
   auto sensorPlugin = pluginPtr->QueryInterfaceSharedPtr<
diff --git a/src/Sensor_TEST.cc b/src/Sensor_TEST.cc
index e1493f30..89acffd3 100644
--- a/src/Sensor_TEST.cc
+++ b/src/Sensor_TEST.cc
@@ -16,8 +16,8 @@
 */
 #include <gtest/gtest.h>
 
-#include <ignition/sensors/Export.hh>
-#include <ignition/sensors/Sensor.hh>
+#include "ignition/sensors/Export.hh"
+#include "ignition/sensors/Sensor.hh"
 
 using namespace ignition;
 using namespace sensors;
diff --git a/src/ThermalCameraSensor.cc b/src/ThermalCameraSensor.cc
index 1b40c67b..cb9299a1 100644
--- a/src/ThermalCameraSensor.cc
+++ b/src/ThermalCameraSensor.cc
@@ -14,7 +14,15 @@
  * limitations under the License.
  *
 */
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs/image.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include <algorithm>
 #include <mutex>
@@ -27,6 +35,8 @@
 #include <ignition/math/Angle.hh>
 #include <ignition/math/Helpers.hh>
 
+#include <ignition/plugin/Register.hh>
+
 #include <ignition/transport/Node.hh>
 
 #include "ignition/sensors/ThermalCameraSensor.hh"
@@ -130,7 +140,7 @@ class ignition::sensors::ThermalCameraSensorPrivate
   public: float maxTemp = ignition::math::INF_F;
 
   /// \brief Linear resolution. Defaults to 10mK
-  public: float resolution = 0.01;
+  public: float resolution = 0.01f;
 };
 
 using namespace ignition;
@@ -530,7 +540,7 @@ bool ThermalCameraSensorPrivate::ConvertTemperatureToImage(
     {
       uint16_t temp = _data[i*_width + j];
       double t = static_cast<double>(temp-*min) / range;
-      int r = 255*t;
+      int r = static_cast<int>(255*t);
       int g = r;
       int b = r;
       int index = i*_width*3 + j*3;
diff --git a/test/gtest/src/gtest.cc b/test/gtest/src/gtest.cc
index ac21ea4b..5e8c3c41 100644
--- a/test/gtest/src/gtest.cc
+++ b/test/gtest/src/gtest.cc
@@ -30,7 +30,9 @@
 //
 // The Google C++ Testing and Mocking Framework (Google Test)
 
+#ifndef _WIN32
 #pragma GCC system_header
+#endif
 
 #include "gtest/gtest.h"
 #include "gtest/internal/custom/gtest.h"
diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
index 51802cd5..d915fd23 100644
--- a/test/integration/CMakeLists.txt
+++ b/test/integration/CMakeLists.txt
@@ -16,6 +16,19 @@ set(tests
   imu_plugin.cc
 )
 
+if (MSVC)
+  # Warning #4251 is the "dll-interface" warning that tells you when types used
+  # by a class are not being exported. These generated source files have private
+  # members that don't get exported, so they trigger this warning. However, the
+  # warning is not important since those members do not need to be interfaced
+  # with.
+  set_source_files_properties(
+      ${tests}
+      ${dri_tests}
+    COMPILE_FLAGS "/wd4251 /wd4146"
+  )
+endif()
+
 link_directories(${PROJECT_BINARY_DIR}/test)
 
 include_directories(${PROJECT_SOURCE_DIR}/src)
@@ -52,4 +65,3 @@ ign_build_tests(TYPE INTEGRATION
     ${PROJECT_LIBRARY_TARGET_NAME}-magnetometer
     ${PROJECT_LIBRARY_TARGET_NAME}-imu
 )
-
diff --git a/test/integration/TransportTestTools.hh b/test/integration/TransportTestTools.hh
index 9281b961..60930860 100644
--- a/test/integration/TransportTestTools.hh
+++ b/test/integration/TransportTestTools.hh
@@ -24,6 +24,8 @@
 
 #include <ignition/transport.hh>
 
+using namespace std::chrono_literals;
+
 /// \brief class which simplifies waiting for a message to be received
 template <typename M>
 class WaitForMessageTestHelper
@@ -34,9 +36,14 @@ class WaitForMessageTestHelper
   {
     if (this->node.Subscribe(_topic, &WaitForMessageTestHelper<M>::OnMessage,
           this))
+    {
       this->subscriptionCreated = true;
+    }
     else
+    {
+      std::cerr << "Failed to create subscription to " << _topic << '\n';
       this->diagnostics = "Failed to create subscription to " + _topic;
+    }
   }
 
   protected: void OnMessage(const M &_msg)
@@ -56,7 +63,13 @@ class WaitForMessageTestHelper
     std::unique_lock<std::mutex> lock(this->mtx);
     if (this->subscriptionCreated)
     {
-      this->conditionVariable.wait(lock, [this]{return this->gotMessage;});
+      if (this->conditionVariable.wait_for(
+        lock,
+        1s,
+        [this]{return this->gotMessage;}))
+      {
+        this->diagnostics = "WaitForMessage timeout";
+      }
     }
     bool success = this->gotMessage;
     this->gotMessage = false;
diff --git a/test/integration/air_pressure_plugin.cc b/test/integration/air_pressure_plugin.cc
index c48fefe2..679b3597 100644
--- a/test/integration/air_pressure_plugin.cc
+++ b/test/integration/air_pressure_plugin.cc
@@ -126,17 +126,19 @@ TEST_F(AirPressureSensorTest, CreateAirPressure)
   // create the sensor using sensor factory
   ignition::sensors::SensorFactory sf;
   sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
+
   std::unique_ptr<ignition::sensors::AirPressureSensor> sensor =
-      sf.CreateSensor<ignition::sensors::AirPressureSensor>(airPressureSdf);
-  EXPECT_TRUE(sensor != nullptr);
+    std::make_unique<ignition::sensors::AirPressureSensor>();
+  EXPECT_TRUE(sensor->Load(airPressureSdf));
 
   EXPECT_EQ(name, sensor->Name());
   EXPECT_EQ(topic, sensor->Topic());
   EXPECT_DOUBLE_EQ(updateRate, sensor->UpdateRate());
 
   std::unique_ptr<ignition::sensors::AirPressureSensor> sensorNoise =
-      sf.CreateSensor<ignition::sensors::AirPressureSensor>(
-          airPressureSdfNoise);
+    std::make_unique<ignition::sensors::AirPressureSensor>();
+  EXPECT_TRUE(sensorNoise->Load(airPressureSdfNoise));
+
   EXPECT_TRUE(sensorNoise != nullptr);
 
   EXPECT_EQ(name, sensorNoise->Name());
@@ -168,16 +170,23 @@ TEST_F(AirPressureSensorTest, SensorReadings)
   // try creating without specifying the sensor type and then cast it
   ignition::sensors::SensorFactory sf;
   sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
-  std::unique_ptr<ignition::sensors::Sensor> s =
-      sf.CreateSensor(airPressureSdf);
+
+  std::unique_ptr<ignition::sensors::AirPressureSensor> s =
+    std::make_unique<ignition::sensors::AirPressureSensor>();
+  EXPECT_TRUE(s->Load(airPressureSdf));
+  EXPECT_TRUE(s->Init());
+
   std::unique_ptr<ignition::sensors::AirPressureSensor> sensor(
       dynamic_cast<ignition::sensors::AirPressureSensor *>(s.release()));
 
   // Make sure the above dynamic cast worked.
   EXPECT_TRUE(sensor != nullptr);
 
-  std::unique_ptr<ignition::sensors::Sensor> sNoise =
-      sf.CreateSensor(airPressureSdfNoise);
+  std::unique_ptr<ignition::sensors::AirPressureSensor> sNoise =
+    std::make_unique<ignition::sensors::AirPressureSensor>();
+  EXPECT_TRUE(sNoise->Load(airPressureSdfNoise));
+  EXPECT_TRUE(sNoise->Init());
+
   std::unique_ptr<ignition::sensors::AirPressureSensor> sensorNoise(
       dynamic_cast<ignition::sensors::AirPressureSensor *>(sNoise.release()));
 
@@ -243,9 +252,9 @@ TEST_F(AirPressureSensorTest, Topic)
     auto airPressureSdf = AirPressureToSdf(name, sensorPose,
           updateRate, topic, alwaysOn, visualize);
 
-    auto sensor = factory.CreateSensor(airPressureSdf);
-    EXPECT_NE(nullptr, sensor);
-
+    std::unique_ptr<ignition::sensors::AirPressureSensor> sensor =
+      std::make_unique<ignition::sensors::AirPressureSensor>();
+    EXPECT_TRUE(sensor->Load(airPressureSdf));
     auto airPressure =
         dynamic_cast<ignition::sensors::AirPressureSensor *>(sensor.release());
     ASSERT_NE(nullptr, airPressure);
@@ -259,8 +268,9 @@ TEST_F(AirPressureSensorTest, Topic)
     auto airPressureSdf = AirPressureToSdf(name, sensorPose,
           updateRate, topic, alwaysOn, visualize);
 
-    auto sensor = factory.CreateSensor(airPressureSdf);
-    EXPECT_NE(nullptr, sensor);
+    std::unique_ptr<ignition::sensors::AirPressureSensor> sensor =
+      std::make_unique<ignition::sensors::AirPressureSensor>();
+    EXPECT_TRUE(sensor->Load(airPressureSdf));
 
     auto airPressure =
         dynamic_cast<ignition::sensors::AirPressureSensor *>(sensor.release());
@@ -275,8 +285,9 @@ TEST_F(AirPressureSensorTest, Topic)
     auto airPressureSdf = AirPressureToSdf(name, sensorPose,
           updateRate, topic, alwaysOn, visualize);
 
-    auto sensor = factory.CreateSensor(airPressureSdf);
-    ASSERT_EQ(nullptr, sensor);
+    std::unique_ptr<ignition::sensors::AirPressureSensor> sensor =
+      std::make_unique<ignition::sensors::AirPressureSensor>();
+    EXPECT_FALSE(sensor->Load(airPressureSdf));
   }
 }
 
diff --git a/test/integration/altimeter_plugin.cc b/test/integration/altimeter_plugin.cc
index ab202a81..3c4ad07c 100644
--- a/test/integration/altimeter_plugin.cc
+++ b/test/integration/altimeter_plugin.cc
@@ -133,17 +133,18 @@ TEST_F(AltimeterSensorTest, CreateAltimeter)
   // create the sensor using sensor factory
   ignition::sensors::SensorFactory sf;
   sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
+
   std::unique_ptr<ignition::sensors::AltimeterSensor> sensor =
-      sf.CreateSensor<ignition::sensors::AltimeterSensor>(altimeterSdf);
-  EXPECT_TRUE(sensor != nullptr);
+    std::make_unique<ignition::sensors::AltimeterSensor>();
+  EXPECT_TRUE(sensor->Load(altimeterSdf));
 
   EXPECT_EQ(name, sensor->Name());
   EXPECT_EQ(topic, sensor->Topic());
   EXPECT_DOUBLE_EQ(updateRate, sensor->UpdateRate());
 
   std::unique_ptr<ignition::sensors::AltimeterSensor> sensorNoise =
-      sf.CreateSensor<ignition::sensors::AltimeterSensor>(altimeterSdfNoise);
-  EXPECT_TRUE(sensorNoise != nullptr);
+    std::make_unique<ignition::sensors::AltimeterSensor>();
+  EXPECT_TRUE(sensorNoise->Load(altimeterSdfNoise));
 
   EXPECT_EQ(name, sensorNoise->Name());
   EXPECT_EQ(topicNoise, sensorNoise->Topic());
@@ -174,16 +175,21 @@ TEST_F(AltimeterSensorTest, SensorReadings)
   // try creating without specifying the sensor type and then cast it
   ignition::sensors::SensorFactory sf;
   sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
-  std::unique_ptr<ignition::sensors::Sensor> s =
-      sf.CreateSensor(altimeterSdf);
+
+  std::unique_ptr<ignition::sensors::AltimeterSensor> s =
+    std::make_unique<ignition::sensors::AltimeterSensor>();
+  EXPECT_TRUE(s->Load(altimeterSdf));
+  EXPECT_TRUE(s->Init());
   std::unique_ptr<ignition::sensors::AltimeterSensor> sensor(
       dynamic_cast<ignition::sensors::AltimeterSensor *>(s.release()));
 
   // Make sure the above dynamic cast worked.
   EXPECT_TRUE(sensor != nullptr);
 
-  std::unique_ptr<ignition::sensors::Sensor> sNoise =
-      sf.CreateSensor(altimeterSdfNoise);
+  std::unique_ptr<ignition::sensors::AltimeterSensor> sNoise =
+    std::make_unique<ignition::sensors::AltimeterSensor>();
+  EXPECT_TRUE(sNoise->Load(altimeterSdfNoise));
+  EXPECT_TRUE(sNoise->Init());
   std::unique_ptr<ignition::sensors::AltimeterSensor> sensorNoise(
       dynamic_cast<ignition::sensors::AltimeterSensor *>(sNoise.release()));
 
@@ -271,9 +277,9 @@ TEST_F(AltimeterSensorTest, Topic)
     auto altimeterSdf = AltimeterToSdf(name, sensorPose,
           updateRate, topic, alwaysOn, visualize);
 
-    auto sensor = factory.CreateSensor(altimeterSdf);
-    EXPECT_NE(nullptr, sensor);
-
+    std::unique_ptr<ignition::sensors::AltimeterSensor> sensor =
+      std::make_unique<ignition::sensors::AltimeterSensor>();
+    EXPECT_TRUE(sensor->Load(altimeterSdf));
     auto altimeter =
         dynamic_cast<ignition::sensors::AltimeterSensor *>(sensor.release());
     ASSERT_NE(nullptr, altimeter);
@@ -287,8 +293,9 @@ TEST_F(AltimeterSensorTest, Topic)
     auto altimeterSdf = AltimeterToSdf(name, sensorPose,
           updateRate, topic, alwaysOn, visualize);
 
-    auto sensor = factory.CreateSensor(altimeterSdf);
-    EXPECT_NE(nullptr, sensor);
+    std::unique_ptr<ignition::sensors::AltimeterSensor> sensor =
+      std::make_unique<ignition::sensors::AltimeterSensor>();
+    EXPECT_TRUE(sensor->Load(altimeterSdf));
 
     auto altimeter =
         dynamic_cast<ignition::sensors::AltimeterSensor *>(sensor.release());
@@ -303,8 +310,9 @@ TEST_F(AltimeterSensorTest, Topic)
     auto altimeterSdf = AltimeterToSdf(name, sensorPose,
           updateRate, topic, alwaysOn, visualize);
 
-    auto sensor = factory.CreateSensor(altimeterSdf);
-    ASSERT_EQ(nullptr, sensor);
+    std::unique_ptr<ignition::sensors::AltimeterSensor> sensor =
+      std::make_unique<ignition::sensors::AltimeterSensor>();
+    EXPECT_FALSE(sensor->Load(altimeterSdf));
   }
 }
 
diff --git a/test/integration/camera_plugin.cc b/test/integration/camera_plugin.cc
index 18bfd38e..a6872d56 100644
--- a/test/integration/camera_plugin.cc
+++ b/test/integration/camera_plugin.cc
@@ -21,7 +21,14 @@
 #include <ignition/sensors/Manager.hh>
 #include <ignition/sensors/CameraSensor.hh>
 #include <ignition/rendering.hh>
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include "test_config.h"  // NOLINT(build/include)
 #include "TransportTestTools.hh"
@@ -65,9 +72,11 @@ void CameraSensorTest::ImagesWithBuiltinSDF(const std::string &_renderEngine)
   ignition::sensors::Manager mgr;
   mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
-  ignition::sensors::CameraSensor *sensor =
-      mgr.CreateSensor<ignition::sensors::CameraSensor>(sensorPtr);
-  ASSERT_NE(sensor, nullptr);
+  std::unique_ptr<ignition::sensors::CameraSensor> sensor =
+    std::make_unique<ignition::sensors::CameraSensor>();
+  EXPECT_TRUE(sensor->Load(sensorPtr));
+  EXPECT_TRUE(sensor->Init());
+
   sensor->SetScene(scene);
 
   ASSERT_NE(sensor->RenderingCamera(), nullptr);
diff --git a/test/integration/depth_camera_plugin.cc b/test/integration/depth_camera_plugin.cc
index fe7aeb31..e4f65065 100644
--- a/test/integration/depth_camera_plugin.cc
+++ b/test/integration/depth_camera_plugin.cc
@@ -16,14 +16,22 @@
 */
 
 #include <gtest/gtest.h>
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs/camera_info.pb.h>
+#include <ignition/msgs.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include <ignition/common/Filesystem.hh>
 #include <ignition/common/Event.hh>
 #include <ignition/sensors/Manager.hh>
 #include <ignition/sensors/DepthCameraSensor.hh>
 #include <ignition/rendering.hh>
-#include <ignition/msgs.hh>
 
 #include "test_config.h"  // NOLINT(build/include)
 #include "TransportTestTools.hh"
@@ -205,9 +213,10 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
   ignition::sensors::Manager mgr;
   mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
-  ignition::sensors::DepthCameraSensor *depthSensor =
-      mgr.CreateSensor<ignition::sensors::DepthCameraSensor>(sensorPtr);
-  ASSERT_NE(depthSensor, nullptr);
+  std::unique_ptr<ignition::sensors::DepthCameraSensor> depthSensor =
+    std::make_unique<ignition::sensors::DepthCameraSensor>();
+  EXPECT_TRUE(depthSensor->Load(sensorPtr));
+  EXPECT_TRUE(depthSensor->Init());
   depthSensor->SetScene(scene);
 
   EXPECT_EQ(depthSensor->ImageWidth(), static_cast<unsigned int>(imgWidth));
@@ -248,8 +257,8 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
   // wait for a few depth camera frames
   mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
 
-  int midWidth = depthSensor->ImageWidth() * 0.5;
-  int midHeight = depthSensor->ImageHeight() * 0.5;
+  int midWidth = static_cast<int>(depthSensor->ImageWidth() * 0.5);
+  int midHeight = static_cast<int>(depthSensor->ImageHeight() * 0.5);
   int mid = midHeight * depthSensor->ImageWidth() + midWidth -1;
   double expectedRangeAtMidPoint = boxPosition.X() - unitBoxSize * 0.5;
 
diff --git a/test/integration/gpu_lidar_sensor_plugin.cc b/test/integration/gpu_lidar_sensor_plugin.cc
index 98793a38..5a728427 100644
--- a/test/integration/gpu_lidar_sensor_plugin.cc
+++ b/test/integration/gpu_lidar_sensor_plugin.cc
@@ -26,7 +26,14 @@
 #include <ignition/sensors/GpuLidarSensor.hh>
 #include <ignition/math/Angle.hh>
 #include <ignition/math/Helpers.hh>
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 #include <ignition/transport/Node.hh>
 #include <ignition/rendering.hh>
 #include <sdf/sdf.hh>
@@ -194,8 +201,10 @@ void GpuLidarSensorTest::CreateGpuLidar(const std::string &_renderEngine)
   scene->SetAmbientLight(0.3, 0.3, 0.3);
 
   // Create a GpuLidarSensor
-  ignition::sensors::GpuLidarSensor *sensor =
-      mgr.CreateSensor<ignition::sensors::GpuLidarSensor>(lidarSdf);
+  std::unique_ptr<ignition::sensors::GpuLidarSensor> sensor =
+    std::make_unique<ignition::sensors::GpuLidarSensor>();
+  EXPECT_TRUE(sensor->Load(lidarSdf));
+  EXPECT_TRUE(sensor->Init());
   sensor->SetParent(parent);
   // Make sure the above dynamic cast worked.
   EXPECT_TRUE(sensor != nullptr);
@@ -321,8 +330,10 @@ void GpuLidarSensorTest::DetectBox(const std::string &_renderEngine)
   mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
   // Create a GpuLidarSensor
-  ignition::sensors::GpuLidarSensor *sensor =
-      mgr.CreateSensor<ignition::sensors::GpuLidarSensor>(lidarSdf);
+  std::unique_ptr<ignition::sensors::GpuLidarSensor> sensor =
+    std::make_unique<ignition::sensors::GpuLidarSensor>();
+  EXPECT_TRUE(sensor->Load(lidarSdf));
+  EXPECT_TRUE(sensor->Init());
   // Make sure the above dynamic cast worked.
   EXPECT_TRUE(sensor != nullptr);
   sensor->SetParent(parent);
@@ -466,12 +477,15 @@ void GpuLidarSensorTest::TestThreeBoxes(const std::string &_renderEngine)
   mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
   // Create a GpuLidarSensors
-  ignition::sensors::GpuLidarSensor *sensor1 =
-      mgr.CreateSensor<ignition::sensors::GpuLidarSensor>(lidarSdf1);
+  std::unique_ptr<ignition::sensors::GpuLidarSensor> sensor1 =
+    std::make_unique<ignition::sensors::GpuLidarSensor>();
+  EXPECT_TRUE(sensor1->Load(lidarSdf1));
+  EXPECT_TRUE(sensor1->Init());
 
-  // Create second GpuLidarSensor
-  ignition::sensors::GpuLidarSensor *sensor2 =
-      mgr.CreateSensor<ignition::sensors::GpuLidarSensor>(lidarSdf2);
+  std::unique_ptr<ignition::sensors::GpuLidarSensor> sensor2 =
+    std::make_unique<ignition::sensors::GpuLidarSensor>();
+  EXPECT_TRUE(sensor2->Load(lidarSdf2));
+  EXPECT_TRUE(sensor2->Init());
 
   // Make sure the above dynamic cast worked.
   EXPECT_TRUE(sensor1 != nullptr);
@@ -612,8 +626,10 @@ void GpuLidarSensorTest::VerticalLidar(const std::string &_renderEngine)
   mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
   // Create a GpuLidarSensor
-  ignition::sensors::GpuLidarSensor *sensor =
-      mgr.CreateSensor<ignition::sensors::GpuLidarSensor>(lidarSdf);
+  std::unique_ptr<ignition::sensors::GpuLidarSensor> sensor =
+    std::make_unique<ignition::sensors::GpuLidarSensor>();
+  EXPECT_TRUE(sensor->Load(lidarSdf));
+  EXPECT_TRUE(sensor->Init());
 
   // Make sure the above dynamic cast worked.
   EXPECT_TRUE(sensor != nullptr);
@@ -730,12 +746,16 @@ void GpuLidarSensorTest::ManualUpdate(const std::string &_renderEngine)
   mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
   // Create a GpuLidarSensors
-  ignition::sensors::GpuLidarSensor *sensor1 =
-      mgr.CreateSensor<ignition::sensors::GpuLidarSensor>(lidarSdf1);
+  std::unique_ptr<ignition::sensors::GpuLidarSensor> sensor1 =
+    std::make_unique<ignition::sensors::GpuLidarSensor>();
+  EXPECT_TRUE(sensor1->Load(lidarSdf1));
+  EXPECT_TRUE(sensor1->Init());
 
   // Create second GpuLidarSensor
-  ignition::sensors::GpuLidarSensor *sensor2 =
-      mgr.CreateSensor<ignition::sensors::GpuLidarSensor>(lidarSdf2);
+  std::unique_ptr<ignition::sensors::GpuLidarSensor> sensor2 =
+    std::make_unique<ignition::sensors::GpuLidarSensor>();
+  EXPECT_TRUE(sensor2->Load(lidarSdf2));
+  EXPECT_TRUE(sensor2->Init());
 
   // Make sure the above dynamic cast worked.
   EXPECT_TRUE(sensor1 != nullptr);
@@ -831,7 +851,12 @@ void GpuLidarSensorTest::Topic(const std::string &_renderEngine)
       vertSamples, vertResolution, vertMinAngle, vertMaxAngle,
       rangeResolution, rangeMin, rangeMax, alwaysOn, visualize);
 
-    auto sensorId = mgr.CreateSensor(lidarSdf);
+    // Create second GpuLidarSensor
+    std::unique_ptr<ignition::sensors::GpuLidarSensor> sensorGpuLidar =
+      std::make_unique<ignition::sensors::GpuLidarSensor>();
+    EXPECT_TRUE(sensorGpuLidar->Load(lidarSdf));
+
+    auto sensorId = mgr.AddSensor(std::move(sensorGpuLidar));
     EXPECT_NE(ignition::sensors::NO_SENSOR, sensorId);
 
     auto sensor = mgr.Sensor(sensorId);
@@ -851,7 +876,11 @@ void GpuLidarSensorTest::Topic(const std::string &_renderEngine)
       vertSamples, vertResolution, vertMinAngle, vertMaxAngle,
       rangeResolution, rangeMin, rangeMax, alwaysOn, visualize);
 
-    auto sensorId = mgr.CreateSensor(lidarSdf);
+    std::unique_ptr<ignition::sensors::GpuLidarSensor> sensorGpuLidar =
+      std::make_unique<ignition::sensors::GpuLidarSensor>();
+    EXPECT_TRUE(sensorGpuLidar->Load(lidarSdf));
+
+    auto sensorId = mgr.AddSensor(std::move(sensorGpuLidar));
     EXPECT_NE(ignition::sensors::NO_SENSOR, sensorId);
 
     auto sensor = mgr.Sensor(sensorId);
@@ -871,7 +900,12 @@ void GpuLidarSensorTest::Topic(const std::string &_renderEngine)
       vertSamples, vertResolution, vertMinAngle, vertMaxAngle,
       rangeResolution, rangeMin, rangeMax, alwaysOn, visualize);
 
-    auto sensorId = mgr.CreateSensor(lidarSdf);
+    std::unique_ptr<ignition::sensors::GpuLidarSensor> sensorGpuLidar =
+      std::make_unique<ignition::sensors::GpuLidarSensor>();
+    EXPECT_TRUE(sensorGpuLidar->Load(lidarSdf));
+
+    auto sensorId = mgr.AddSensor(std::move(sensorGpuLidar));
+
     EXPECT_EQ(ignition::sensors::NO_SENSOR, sensorId);
   }
 }
diff --git a/test/integration/imu_plugin.cc b/test/integration/imu_plugin.cc
index 908ca723..3e579c39 100644
--- a/test/integration/imu_plugin.cc
+++ b/test/integration/imu_plugin.cc
@@ -81,8 +81,8 @@ TEST_F(ImuSensorTest, CreateImu)
   ignition::sensors::SensorFactory sf;
   sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
   std::unique_ptr<ignition::sensors::ImuSensor> sensor =
-      sf.CreateSensor<ignition::sensors::ImuSensor>(imuSdf);
-  EXPECT_TRUE(sensor != nullptr);
+    std::make_unique<ignition::sensors::ImuSensor>();
+  EXPECT_TRUE(sensor->Load(imuSdf));
 
   EXPECT_EQ(name, sensor->Name());
   EXPECT_EQ(topic, sensor->Topic());
@@ -109,8 +109,9 @@ TEST_F(ImuSensorTest, SensorReadings)
   // try creating without specifying the sensor type and then cast it
   ignition::sensors::SensorFactory sf;
   sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
-  std::unique_ptr<ignition::sensors::Sensor> s =
-      sf.CreateSensor(imuSdf);
+  std::unique_ptr<ignition::sensors::ImuSensor> s =
+    std::make_unique<ignition::sensors::ImuSensor>();
+  EXPECT_TRUE(s->Load(imuSdf));
   std::unique_ptr<ignition::sensors::ImuSensor> sensor(
       dynamic_cast<ignition::sensors::ImuSensor *>(s.release()));
 
@@ -248,8 +249,9 @@ TEST_F(ImuSensorTest, Topic)
     auto imuSdf = ImuToSdf(name, sensorPose,
           updateRate, topic, alwaysOn, visualize);
 
-    auto sensor = factory.CreateSensor(imuSdf);
-    EXPECT_NE(nullptr, sensor);
+    std::unique_ptr<ignition::sensors::ImuSensor> sensor =
+      std::make_unique<ignition::sensors::ImuSensor>();
+    EXPECT_TRUE(sensor->Load(imuSdf));
 
     auto imu = dynamic_cast<ignition::sensors::ImuSensor *>(sensor.release());
     ASSERT_NE(nullptr, imu);
@@ -263,8 +265,9 @@ TEST_F(ImuSensorTest, Topic)
     auto imuSdf = ImuToSdf(name, sensorPose,
           updateRate, topic, alwaysOn, visualize);
 
-    auto sensor = factory.CreateSensor(imuSdf);
-    EXPECT_NE(nullptr, sensor);
+    std::unique_ptr<ignition::sensors::ImuSensor> sensor =
+      std::make_unique<ignition::sensors::ImuSensor>();
+    EXPECT_TRUE(sensor->Load(imuSdf));
 
     auto imu =
         dynamic_cast<ignition::sensors::ImuSensor *>(sensor.release());
@@ -279,8 +282,9 @@ TEST_F(ImuSensorTest, Topic)
     auto imuSdf = ImuToSdf(name, sensorPose,
           updateRate, topic, alwaysOn, visualize);
 
-    auto sensor = factory.CreateSensor(imuSdf);
-    ASSERT_EQ(nullptr, sensor);
+    std::unique_ptr<ignition::sensors::ImuSensor> sensor =
+      std::make_unique<ignition::sensors::ImuSensor>();
+    EXPECT_FALSE(sensor->Load(imuSdf));
   }
 }
 
diff --git a/test/integration/logical_camera_plugin.cc b/test/integration/logical_camera_plugin.cc
index b5c14b81..7cabbdd4 100644
--- a/test/integration/logical_camera_plugin.cc
+++ b/test/integration/logical_camera_plugin.cc
@@ -27,7 +27,14 @@
 #include <ignition/sensors/Export.hh>
 
 #include <ignition/math/Helpers.hh>
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 #include <ignition/transport/Node.hh>
 
 #include "test_config.h"  // NOLINT(build/include)
@@ -106,9 +113,10 @@ TEST_F(LogicalCameraSensorTest, CreateLogicalCamera)
   // create the sensor using sensor factory
   ignition::sensors::SensorFactory sf;
   sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
+
   std::unique_ptr<ignition::sensors::LogicalCameraSensor> sensor =
-      sf.CreateSensor<ignition::sensors::LogicalCameraSensor>(logicalCameraSdf);
-  EXPECT_TRUE(sensor != nullptr);
+    std::make_unique<ignition::sensors::LogicalCameraSensor>();
+  EXPECT_TRUE(sensor->Load(logicalCameraSdf));
 
   EXPECT_EQ(name, sensor->Name());
   EXPECT_EQ(topic, sensor->Topic());
@@ -145,8 +153,10 @@ TEST_F(LogicalCameraSensorTest, DetectBox)
   // try creating without specifying the sensor type and then cast it
   ignition::sensors::SensorFactory sf;
   sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
-  std::unique_ptr<ignition::sensors::Sensor> s =
-      sf.CreateSensor(logicalCameraSdf);
+
+  std::unique_ptr<ignition::sensors::LogicalCameraSensor> s =
+    std::make_unique<ignition::sensors::LogicalCameraSensor>();
+  EXPECT_TRUE(s->Load(logicalCameraSdf));
   std::unique_ptr<ignition::sensors::LogicalCameraSensor> sensor(
       dynamic_cast<ignition::sensors::LogicalCameraSensor *>(s.release()));
 
@@ -255,8 +265,9 @@ TEST_F(LogicalCameraSensorTest, Topic)
         updateRate, topic, near, far, horzFov, aspectRatio, alwaysOn,
         visualize);
 
-    auto sensor = factory.CreateSensor(logicalCameraSdf);
-    EXPECT_NE(nullptr, sensor);
+    std::unique_ptr<ignition::sensors::LogicalCameraSensor> sensor =
+      std::make_unique<ignition::sensors::LogicalCameraSensor>();
+    EXPECT_TRUE(sensor->Load(logicalCameraSdf));
 
     auto logicalCamera =
         dynamic_cast<ignition::sensors::LogicalCameraSensor *>(
@@ -273,8 +284,9 @@ TEST_F(LogicalCameraSensorTest, Topic)
         updateRate, topic, near, far, horzFov, aspectRatio, alwaysOn,
         visualize);
 
-    auto sensor = factory.CreateSensor(logicalCameraSdf);
-    EXPECT_NE(nullptr, sensor);
+    std::unique_ptr<ignition::sensors::LogicalCameraSensor> sensor =
+      std::make_unique<ignition::sensors::LogicalCameraSensor>();
+    EXPECT_TRUE(sensor->Load(logicalCameraSdf));
 
     auto logicalCamera =
         dynamic_cast<ignition::sensors::LogicalCameraSensor *>(
@@ -291,8 +303,9 @@ TEST_F(LogicalCameraSensorTest, Topic)
         updateRate, topic, near, far, horzFov, aspectRatio, alwaysOn,
         visualize);
 
-    auto sensor = factory.CreateSensor(logicalCameraSdf);
-    ASSERT_EQ(nullptr, sensor);
+    std::unique_ptr<ignition::sensors::LogicalCameraSensor> sensor =
+      std::make_unique<ignition::sensors::LogicalCameraSensor>();
+    EXPECT_FALSE(sensor->Load(logicalCameraSdf));
   }
 }
 
diff --git a/test/integration/magnetometer_plugin.cc b/test/integration/magnetometer_plugin.cc
index ee44ccae..4235fa11 100644
--- a/test/integration/magnetometer_plugin.cc
+++ b/test/integration/magnetometer_plugin.cc
@@ -140,14 +140,14 @@ TEST_F(MagnetometerSensorTest, CreateMagnetometer)
   // create the sensor using sensor factory
   ignition::sensors::SensorFactory sf;
   sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
+
   std::unique_ptr<ignition::sensors::MagnetometerSensor> sensor =
-      sf.CreateSensor<ignition::sensors::MagnetometerSensor>(magnetometerSdf);
-  EXPECT_TRUE(sensor != nullptr);
+    std::make_unique<ignition::sensors::MagnetometerSensor>();
+  EXPECT_TRUE(sensor->Load(magnetometerSdf));
 
   std::unique_ptr<ignition::sensors::MagnetometerSensor> sensorNoise =
-    sf.CreateSensor<ignition::sensors::MagnetometerSensor>(
-        magnetometerNoiseSdf);
-  EXPECT_TRUE(sensorNoise != nullptr);
+    std::make_unique<ignition::sensors::MagnetometerSensor>();
+  EXPECT_TRUE(sensorNoise->Load(magnetometerNoiseSdf));
 
   EXPECT_EQ(name, sensor->Name());
   EXPECT_EQ(name, sensorNoise->Name());
@@ -180,13 +180,18 @@ TEST_F(MagnetometerSensorTest, SensorReadings)
   // try creating without specifying the sensor type and then cast it
   ignition::sensors::SensorFactory sf;
   sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
-  std::unique_ptr<ignition::sensors::Sensor> s =
-      sf.CreateSensor(magnetometerSdf);
+
+  std::unique_ptr<ignition::sensors::MagnetometerSensor> s =
+    std::make_unique<ignition::sensors::MagnetometerSensor>();
+  EXPECT_TRUE(s->Load(magnetometerSdf));
+  EXPECT_TRUE(s->Init());
   std::unique_ptr<ignition::sensors::MagnetometerSensor> sensor(
       dynamic_cast<ignition::sensors::MagnetometerSensor *>(s.release()));
 
-  std::unique_ptr<ignition::sensors::Sensor> sNoise =
-      sf.CreateSensor(magnetometerSdfNoise);
+  std::unique_ptr<ignition::sensors::MagnetometerSensor> sNoise =
+    std::make_unique<ignition::sensors::MagnetometerSensor>();
+  EXPECT_TRUE(sNoise->Load(magnetometerSdfNoise));
+  EXPECT_TRUE(sNoise->Init());
   std::unique_ptr<ignition::sensors::MagnetometerSensor> sensorNoise(
       dynamic_cast<ignition::sensors::MagnetometerSensor *>(sNoise.release()));
 
@@ -308,8 +313,9 @@ TEST_F(MagnetometerSensorTest, Topic)
     auto magnetometerSdf = MagnetometerToSdf(name, sensorPose,
           updateRate, topic, alwaysOn, visualize);
 
-    auto sensor = factory.CreateSensor(magnetometerSdf);
-    EXPECT_NE(nullptr, sensor);
+    std::unique_ptr<ignition::sensors::MagnetometerSensor> sensor =
+      std::make_unique<ignition::sensors::MagnetometerSensor>();
+    EXPECT_TRUE(sensor->Load(magnetometerSdf));
 
     auto magnetometer =
         dynamic_cast<ignition::sensors::MagnetometerSensor *>(sensor.release());
@@ -324,8 +330,9 @@ TEST_F(MagnetometerSensorTest, Topic)
     auto magnetometerSdf = MagnetometerToSdf(name, sensorPose,
           updateRate, topic, alwaysOn, visualize);
 
-    auto sensor = factory.CreateSensor(magnetometerSdf);
-    EXPECT_NE(nullptr, sensor);
+    std::unique_ptr<ignition::sensors::MagnetometerSensor> sensor =
+      std::make_unique<ignition::sensors::MagnetometerSensor>();
+    EXPECT_TRUE(sensor->Load(magnetometerSdf));
 
     auto magnetometer =
         dynamic_cast<ignition::sensors::MagnetometerSensor *>(sensor.release());
@@ -340,8 +347,9 @@ TEST_F(MagnetometerSensorTest, Topic)
     auto magnetometerSdf = MagnetometerToSdf(name, sensorPose,
           updateRate, topic, alwaysOn, visualize);
 
-    auto sensor = factory.CreateSensor(magnetometerSdf);
-    ASSERT_EQ(nullptr, sensor);
+    std::unique_ptr<ignition::sensors::MagnetometerSensor> sensor =
+      std::make_unique<ignition::sensors::MagnetometerSensor>();
+    EXPECT_FALSE(sensor->Load(magnetometerSdf));
   }
 }
 
diff --git a/test/integration/rgbd_camera_plugin.cc b/test/integration/rgbd_camera_plugin.cc
index df6b2909..5c27dbd3 100644
--- a/test/integration/rgbd_camera_plugin.cc
+++ b/test/integration/rgbd_camera_plugin.cc
@@ -16,14 +16,22 @@
 */
 
 #include <gtest/gtest.h>
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs/camera_info.pb.h>
+#include <ignition/msgs.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include <ignition/common/Filesystem.hh>
 #include <ignition/common/Event.hh>
 #include <ignition/sensors/Manager.hh>
 #include <ignition/sensors/RgbdCameraSensor.hh>
 #include <ignition/rendering.hh>
-#include <ignition/msgs.hh>
 
 #include "test_config.h"  // NOLINT(build/include)
 #include "TransportTestTools.hh"
@@ -225,8 +233,10 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
   ignition::sensors::Manager mgr;
   mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
-  ignition::sensors::RgbdCameraSensor *rgbdSensor =
-      mgr.CreateSensor<ignition::sensors::RgbdCameraSensor>(sensorPtr);
+  std::unique_ptr<ignition::sensors::RgbdCameraSensor> rgbdSensor =
+    std::make_unique<ignition::sensors::RgbdCameraSensor>();
+  EXPECT_TRUE(rgbdSensor->Load(sensorPtr));
+  EXPECT_TRUE(rgbdSensor->Init());
   ASSERT_NE(rgbdSensor, nullptr);
   rgbdSensor->SetScene(scene);
 
@@ -319,8 +329,8 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
   pcCounter = 0;
 
   // depth image indices
-  int midWidth = rgbdSensor->ImageWidth() * 0.5;
-  int midHeight = rgbdSensor->ImageHeight() * 0.5;
+  int midWidth = static_cast<int>(rgbdSensor->ImageWidth() * 0.5);
+  int midHeight = static_cast<int>(rgbdSensor->ImageHeight() * 0.5);
   int mid = midHeight * rgbdSensor->ImageWidth() + midWidth -1;
   double expectedRangeAtMidPoint = boxPosition.X() - unitBoxSize * 0.5;
   int left = midHeight * rgbdSensor->ImageWidth();
diff --git a/test/integration/thermal_camera_plugin.cc b/test/integration/thermal_camera_plugin.cc
index 42e1d043..7898f598 100644
--- a/test/integration/thermal_camera_plugin.cc
+++ b/test/integration/thermal_camera_plugin.cc
@@ -16,14 +16,23 @@
 */
 
 #include <gtest/gtest.h>
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4005)
+#endif
 #include <ignition/msgs/camera_info.pb.h>
+#include <ignition/msgs.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
 
 #include <ignition/common/Filesystem.hh>
 #include <ignition/common/Event.hh>
 #include <ignition/sensors/Manager.hh>
 #include <ignition/sensors/ThermalCameraSensor.hh>
 #include <ignition/rendering.hh>
-#include <ignition/msgs.hh>
+
 
 #include "test_config.h"  // NOLINT(build/include)
 #include "TransportTestTools.hh"
@@ -138,13 +147,14 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
   ignition::sensors::Manager mgr;
   mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
-  ignition::sensors::ThermalCameraSensor *thermalSensor =
-      mgr.CreateSensor<ignition::sensors::ThermalCameraSensor>(sensorPtr);
-  ASSERT_NE(thermalSensor, nullptr);
+  std::unique_ptr<ignition::sensors::ThermalCameraSensor> thermalSensor =
+    std::make_unique<ignition::sensors::ThermalCameraSensor>();
+  EXPECT_TRUE(thermalSensor->Load(sensorPtr));
+  EXPECT_TRUE(thermalSensor->Init());
 
-  float ambientTemp = 296.0;
-  float ambientTempRange = 4.0;
-  float linearResolution = 0.01;
+  float ambientTemp = 296.0f;
+  float ambientTempRange = 4.0f;
+  float linearResolution = 0.01f;
   thermalSensor->SetAmbientTemperature(ambientTemp);
   thermalSensor->SetAmbientTemperatureRange(ambientTempRange);
   thermalSensor->SetLinearResolution(linearResolution);
@@ -177,8 +187,8 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
   // wait for a few thermal camera frames
   mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
 
-  int midWidth = thermalSensor->ImageWidth() * 0.5;
-  int midHeight = thermalSensor->ImageHeight() * 0.5;
+  int midWidth = static_cast<int>(thermalSensor->ImageWidth() * 0.5);
+  int midHeight = static_cast<int>(thermalSensor->ImageHeight() * 0.5);
   int mid = midHeight * thermalSensor->ImageWidth() + midWidth -1;
   int left = midHeight * thermalSensor->ImageWidth();
   int right = (midHeight+1) * thermalSensor->ImageWidth() - 1;