diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
index dc5ea86166..5bb2d77116 100644
--- a/src/rendering/RenderUtil.cc
+++ b/src/rendering/RenderUtil.cc
@@ -722,18 +722,23 @@ void RenderUtil::Update()
       this->dataPtr->sceneManager.CreateLight(
           std::get<0>(light), std::get<1>(light), std::get<2>(light));
 
-      // create a new id for the light visual
-      auto attempts = 100000u;
-      for (auto i = 0u; i < attempts; ++i)
+      // TODO(anyone) This needs to be updated for when sensors and GUI use
+      // the same scene
+      // create a new id for the light visual, if we're not loading sensors
+      if (!this->dataPtr->enableSensors)
       {
-        Entity id = std::numeric_limits<uint64_t>::min() + i;
-        if (!this->dataPtr->sceneManager.HasEntity(id))
+        auto attempts = 100000u;
+        for (auto i = 0u; i < attempts; ++i)
         {
-          rendering::VisualPtr lightVisual =
-            this->dataPtr->sceneManager.CreateLightVisual(
-              id, std::get<1>(light), std::get<0>(light));
-          this->dataPtr->matchLightWithVisuals[std::get<0>(light)] = id;
-          break;
+          Entity id = std::numeric_limits<uint64_t>::min() + i;
+          if (!this->dataPtr->sceneManager.HasEntity(id))
+          {
+            rendering::VisualPtr lightVisual =
+              this->dataPtr->sceneManager.CreateLightVisual(
+                id, std::get<1>(light), std::get<0>(light));
+            this->dataPtr->matchLightWithVisuals[std::get<0>(light)] = id;
+            break;
+          }
         }
       }
     }
diff --git a/test/integration/thermal_sensor_system.cc b/test/integration/thermal_sensor_system.cc
index 5d076fa9f7..cea5854ef1 100644
--- a/test/integration/thermal_sensor_system.cc
+++ b/test/integration/thermal_sensor_system.cc
@@ -63,6 +63,11 @@ void thermalCb(const msgs::Image &_msg)
   std::lock_guard<std::mutex> g_lock(g_mutex);
   g_imageMsgs.push_back(_msg);
 
+  EXPECT_EQ(320u, _msg.width());
+  EXPECT_EQ(240u, _msg.height());
+  EXPECT_EQ(320u, _msg.step());
+  EXPECT_EQ(msgs::PixelFormatType::L_INT8, _msg.pixel_format_type());
+
   unsigned int width = _msg.width();
   unsigned int height = _msg.height();
   unsigned int size = width * height * sizeof(unsigned char);
@@ -174,9 +179,9 @@ TEST_F(ThermalSensorTest,
   const std::string cylinderVisual = "cylinder_visual";
   const std::string boxVisual = "box_visual";
   EXPECT_EQ(3u, entityTemp.size());
-  ASSERT_TRUE(entityTemp.find(sphereVisual) != entityTemp.end());
-  ASSERT_TRUE(entityTemp.find(cylinderVisual) != entityTemp.end());
-  ASSERT_TRUE(entityTemp.find(boxVisual) != entityTemp.end());
+  ASSERT_NE(entityTemp.find(sphereVisual), entityTemp.end());
+  ASSERT_NE(entityTemp.find(cylinderVisual), entityTemp.end());
+  ASSERT_NE(entityTemp.find(boxVisual), entityTemp.end());
   EXPECT_DOUBLE_EQ(600.0, entityTemp[sphereVisual].Kelvin());
   // the user specified temp is larger than the max value representable by an
   // 8 bit 3 degree resolution camera - this value should be clamped
@@ -186,20 +191,19 @@ TEST_F(ThermalSensorTest,
   EXPECT_DOUBLE_EQ(-10.0, entityTemp[boxVisual].Kelvin());
 
   // Run server
-  server.Run(true, 35, false);
+  server.Run(true, 10, false);
 
   // wait for image
   bool received = false;
-  for (unsigned int i = 0; i < 30; ++i)
+  int sleep{0};
+  int maxSleep{40};
+  for (; sleep < maxSleep && !received; ++sleep)
   {
-    {
-      std::lock_guard<std::mutex> lock(g_mutex);
-      received = !g_imageMsgs.empty();
-    }
-    if (received)
-      break;
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    std::lock_guard<std::mutex> lock(g_mutex);
+    received = !g_imageMsgs.empty();
   }
+  EXPECT_LT(sleep, maxSleep);
   EXPECT_TRUE(received);
   ASSERT_NE(nullptr, g_image);