diff --git a/examples/custom_sensor/Odometer.cc b/examples/custom_sensor/Odometer.cc
index 1488bb30..07dbacea 100644
--- a/examples/custom_sensor/Odometer.cc
+++ b/examples/custom_sensor/Odometer.cc
@@ -20,6 +20,7 @@
 #include <gz/msgs/double.pb.h>
 
 #include <gz/common/Console.hh>
+#include <gz/msgs/Utility.hh>
 #include <gz/sensors/Noise.hh>
 #include <gz/sensors/Util.hh>
 
diff --git a/include/gz/sensors/CameraSensor.hh b/include/gz/sensors/CameraSensor.hh
index 930bfa79..ab8e78c9 100644
--- a/include/gz/sensors/CameraSensor.hh
+++ b/include/gz/sensors/CameraSensor.hh
@@ -21,20 +21,12 @@
 #include <memory>
 #include <string>
 
+#include <gz/msgs/image.pb.h>
+
 #include <sdf/sdf.hh>
 
 #include <gz/utils/SuppressWarning.hh>
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
-
 // TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
diff --git a/include/gz/sensors/DepthCameraSensor.hh b/include/gz/sensors/DepthCameraSensor.hh
index a5a91370..129d9c63 100644
--- a/include/gz/sensors/DepthCameraSensor.hh
+++ b/include/gz/sensors/DepthCameraSensor.hh
@@ -26,15 +26,7 @@
 #include <gz/common/Event.hh>
 #include <gz/utils/SuppressWarning.hh>
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
+#include <gz/msgs/image.pb.h>
 
 // TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
diff --git a/include/gz/sensors/LogicalCameraSensor.hh b/include/gz/sensors/LogicalCameraSensor.hh
index f10f45a5..f7e10449 100644
--- a/include/gz/sensors/LogicalCameraSensor.hh
+++ b/include/gz/sensors/LogicalCameraSensor.hh
@@ -27,15 +27,7 @@
 
 #include <gz/math/Angle.hh>
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
+#include <gz/msgs/logical_camera_image.pb.h>
 
 #include "gz/sensors/config.hh"
 #include "gz/sensors/Export.hh"
diff --git a/include/gz/sensors/SegmentationCameraSensor.hh b/include/gz/sensors/SegmentationCameraSensor.hh
index 59303474..34032605 100644
--- a/include/gz/sensors/SegmentationCameraSensor.hh
+++ b/include/gz/sensors/SegmentationCameraSensor.hh
@@ -21,9 +21,10 @@
 #include <memory>
 #include <string>
 
+#include <gz/msgs/image.pb.h>
+
 #include <gz/common/Event.hh>
 #include <gz/utils/SuppressWarning.hh>
-#include <gz/msgs.hh>
 #include <gz/transport/Node.hh>
 #include <gz/transport/Publisher.hh>
 #include <sdf/sdf.hh>
diff --git a/include/gz/sensors/ThermalCameraSensor.hh b/include/gz/sensors/ThermalCameraSensor.hh
index e0d6bbe6..0dfb6916 100644
--- a/include/gz/sensors/ThermalCameraSensor.hh
+++ b/include/gz/sensors/ThermalCameraSensor.hh
@@ -26,15 +26,7 @@
 #include <gz/common/Event.hh>
 #include <gz/utils/SuppressWarning.hh>
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
+#include <gz/msgs/image.pb.h>
 
 // TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
diff --git a/include/gz/sensors/WideAngleCameraSensor.hh b/include/gz/sensors/WideAngleCameraSensor.hh
index a9b80c7b..c3f1aba7 100644
--- a/include/gz/sensors/WideAngleCameraSensor.hh
+++ b/include/gz/sensors/WideAngleCameraSensor.hh
@@ -26,15 +26,7 @@
 #include <gz/common/Event.hh>
 #include <gz/utils/SuppressWarning.hh>
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
+#include <gz/msgs/image.pb.h>
 
 // TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
diff --git a/src/BoundingBoxCameraSensor.cc b/src/BoundingBoxCameraSensor.cc
index 92f0c84a..9181f2f4 100644
--- a/src/BoundingBoxCameraSensor.cc
+++ b/src/BoundingBoxCameraSensor.cc
@@ -25,6 +25,7 @@
 #include <gz/common/Image.hh>
 #include <gz/common/Profiler.hh>
 #include <gz/common/Util.hh>
+#include <gz/msgs/Utility.hh>
 #include <gz/rendering/BoundingBoxCamera.hh>
 #include <gz/transport/Node.hh>
 #include <gz/transport/Publisher.hh>
diff --git a/src/CameraSensor.cc b/src/CameraSensor.cc
index 63e01db6..86272582 100644
--- a/src/CameraSensor.cc
+++ b/src/CameraSensor.cc
@@ -14,15 +14,10 @@
  * limitations under the License.
  *
 */
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
+
+#include <gz/msgs/boolean.pb.h>
 #include <gz/msgs/camera_info.pb.h>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
+#include <gz/msgs/image.pb.h>
 
 #include <mutex>
 
@@ -33,6 +28,7 @@
 #include <gz/common/StringUtils.hh>
 #include <gz/math/Angle.hh>
 #include <gz/math/Helpers.hh>
+#include <gz/msgs/Utility.hh>
 #include <gz/transport/Node.hh>
 
 #include "gz/sensors/CameraSensor.hh"
diff --git a/src/DepthCameraSensor.cc b/src/DepthCameraSensor.cc
index e00b0087..ae352597 100644
--- a/src/DepthCameraSensor.cc
+++ b/src/DepthCameraSensor.cc
@@ -14,15 +14,9 @@
  * limitations under the License.
  *
 */
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
+
+#include <gz/msgs/image.pb.h>
 #include <gz/msgs/pointcloud_packed.pb.h>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
 
 #include <mutex>
 
@@ -34,6 +28,7 @@
 #include <gz/math/Angle.hh>
 #include <gz/math/Helpers.hh>
 
+#include <gz/msgs/Utility.hh>
 #include <gz/transport/Node.hh>
 
 #include "gz/sensors/DepthCameraSensor.hh"
diff --git a/src/ImuSensor_TEST.cc b/src/ImuSensor_TEST.cc
index 38edef47..0118fbf4 100644
--- a/src/ImuSensor_TEST.cc
+++ b/src/ImuSensor_TEST.cc
@@ -18,15 +18,6 @@
 #include <sdf/sdf.hh>
 
 #include <gz/math/Helpers.hh>
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
 
 #include <gz/common/Console.hh>
 #include <gz/sensors/Export.hh>
diff --git a/src/Lidar_TEST.cc b/src/Lidar_TEST.cc
index 47e7a747..b697cbf0 100644
--- a/src/Lidar_TEST.cc
+++ b/src/Lidar_TEST.cc
@@ -19,15 +19,6 @@
 
 #include <gz/math/Angle.hh>
 #include <gz/math/Helpers.hh>
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
 
 #include <gz/sensors/Export.hh>
 #include <gz/sensors/Manager.hh>
diff --git a/src/LogicalCameraSensor.cc b/src/LogicalCameraSensor.cc
index f12f6b93..4df42fd8 100644
--- a/src/LogicalCameraSensor.cc
+++ b/src/LogicalCameraSensor.cc
@@ -21,6 +21,7 @@
 #include <gz/common/Profiler.hh>
 #include <gz/math/Frustum.hh>
 #include <gz/math/Helpers.hh>
+#include <gz/msgs/Utility.hh>
 #include <gz/transport/Node.hh>
 
 #include "gz/sensors/SensorFactory.hh"
diff --git a/src/RgbdCameraSensor.cc b/src/RgbdCameraSensor.cc
index c73cf74f..186ac9ab 100644
--- a/src/RgbdCameraSensor.cc
+++ b/src/RgbdCameraSensor.cc
@@ -15,16 +15,8 @@
  *
 */
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
 #include <gz/msgs/image.pb.h>
 #include <gz/msgs/pointcloud_packed.pb.h>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
 
 #include <gz/common/Image.hh>
 #include <gz/common/Profiler.hh>
@@ -42,6 +34,7 @@
 #pragma warning(pop)
 #endif
 
+#include <gz/msgs/Utility.hh>
 #include <gz/transport/Node.hh>
 
 #include <sdf/Sensor.hh>
diff --git a/src/SegmentationCameraSensor.cc b/src/SegmentationCameraSensor.cc
index d74343cc..73266d4e 100644
--- a/src/SegmentationCameraSensor.cc
+++ b/src/SegmentationCameraSensor.cc
@@ -18,11 +18,13 @@
 #include <memory>
 #include <mutex>
 
+#include <gz/msgs/image.pb.h>
+
 #include <gz/common/Console.hh>
 #include <gz/common/Image.hh>
 #include <gz/common/Profiler.hh>
 #include <gz/common/Util.hh>
-#include <gz/msgs.hh>
+#include <gz/msgs/Utility.hh>
 #include <gz/rendering/SegmentationCamera.hh>
 #include <gz/transport/Node.hh>
 #include <gz/transport/Publisher.hh>
diff --git a/src/ThermalCameraSensor.cc b/src/ThermalCameraSensor.cc
index 73f505f5..66ffbc9e 100644
--- a/src/ThermalCameraSensor.cc
+++ b/src/ThermalCameraSensor.cc
@@ -15,15 +15,7 @@
  *
 */
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
 #include <gz/msgs/image.pb.h>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
 
 #include <algorithm>
 #include <mutex>
@@ -36,6 +28,7 @@
 #include <gz/math/Angle.hh>
 #include <gz/math/Helpers.hh>
 
+#include <gz/msgs/Utility.hh>
 #include <gz/transport/Node.hh>
 
 #include "gz/sensors/ThermalCameraSensor.hh"
diff --git a/src/WideAngleCameraSensor.cc b/src/WideAngleCameraSensor.cc
index 96c6ed41..c1ddb2fb 100644
--- a/src/WideAngleCameraSensor.cc
+++ b/src/WideAngleCameraSensor.cc
@@ -14,15 +14,8 @@
  * limitations under the License.
  *
 */
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
+
 #include <gz/msgs/camera_info.pb.h>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
 
 #include <mutex>
 
@@ -33,6 +26,7 @@
 #include <gz/common/StringUtils.hh>
 #include <gz/math/Angle.hh>
 #include <gz/math/Helpers.hh>
+#include <gz/msgs/Utility.hh>
 #include <gz/transport/Node.hh>
 
 #include "gz/sensors/WideAngleCameraSensor.hh"
diff --git a/test/integration/camera.cc b/test/integration/camera.cc
index fdc6c92c..3683e459 100644
--- a/test/integration/camera.cc
+++ b/test/integration/camera.cc
@@ -17,6 +17,8 @@
 
 #include <gtest/gtest.h>
 
+#include <gz/msgs/image.pb.h>
+
 #include <gz/common/Console.hh>
 #include <gz/common/Filesystem.hh>
 #include <gz/sensors/Manager.hh>
@@ -35,16 +37,6 @@
 #pragma warning(pop)
 #endif
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
-
 #include "test_config.hh"  // NOLINT(build/include)
 #include "TransportTestTools.hh"
 
diff --git a/test/integration/depth_camera.cc b/test/integration/depth_camera.cc
index bbe97d95..4e9eb002 100644
--- a/test/integration/depth_camera.cc
+++ b/test/integration/depth_camera.cc
@@ -17,16 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
 #include <gz/msgs/camera_info.pb.h>
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
+#include <gz/msgs/image.pb.h>
 
 #include <gz/common/Filesystem.hh>
 #include <gz/common/Event.hh>
diff --git a/test/integration/distortion_camera.cc b/test/integration/distortion_camera.cc
index 55a2c4c8..a4ba56a9 100644
--- a/test/integration/distortion_camera.cc
+++ b/test/integration/distortion_camera.cc
@@ -17,6 +17,8 @@
 
 #include <gtest/gtest.h>
 
+#include <gz/msgs/image.pb.h>
+
 #include <gz/common/Console.hh>
 #include <gz/common/Filesystem.hh>
 #include <gz/sensors/Manager.hh>
@@ -35,16 +37,6 @@
 #pragma warning(pop)
 #endif
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
-
 #include "test_config.hh"  // NOLINT(build/include)
 #include "TransportTestTools.hh"
 
diff --git a/test/integration/gpu_lidar_sensor.cc b/test/integration/gpu_lidar_sensor.cc
index fe51dbf9..798f6514 100644
--- a/test/integration/gpu_lidar_sensor.cc
+++ b/test/integration/gpu_lidar_sensor.cc
@@ -17,6 +17,9 @@
 
 #include <gtest/gtest.h>
 
+#include <gz/msgs/laserscan.pb.h>
+#include <gz/msgs/pointcloud_packed.pb.h>
+
 #include <gz/common/Console.hh>
 #include <gz/common/Filesystem.hh>
 #include <gz/common/Event.hh>
@@ -25,15 +28,6 @@
 #include <gz/sensors/GpuLidarSensor.hh>
 #include <gz/math/Angle.hh>
 #include <gz/math/Helpers.hh>
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
 #include <gz/transport/Node.hh>
 
 // TODO(louise) Remove these pragmas once gz-rendering is disabling the
diff --git a/test/integration/logical_camera.cc b/test/integration/logical_camera.cc
index 744fd24f..8e4b4d19 100644
--- a/test/integration/logical_camera.cc
+++ b/test/integration/logical_camera.cc
@@ -17,6 +17,8 @@
 
 #include <gtest/gtest.h>
 
+#include <gz/msgs/logical_camera_image.pb.h>
+
 #include <sdf/sdf.hh>
 
 #include <gz/common/Console.hh>
@@ -26,15 +28,7 @@
 #include <gz/sensors/Export.hh>
 
 #include <gz/math/Helpers.hh>
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
+#include <gz/msgs/Utility.hh>
 #include <gz/transport/Node.hh>
 
 #include "test_config.hh"  // NOLINT(build/include)
diff --git a/test/integration/rgbd_camera.cc b/test/integration/rgbd_camera.cc
index dea56ba4..01fb4ccc 100644
--- a/test/integration/rgbd_camera.cc
+++ b/test/integration/rgbd_camera.cc
@@ -17,16 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
 #include <gz/msgs/camera_info.pb.h>
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
+#include <gz/msgs/image.pb.h>
 
 #include <gz/common/Filesystem.hh>
 #include <gz/common/Event.hh>
diff --git a/test/integration/segmentation_camera.cc b/test/integration/segmentation_camera.cc
index 428f3cc4..3015ea6e 100644
--- a/test/integration/segmentation_camera.cc
+++ b/test/integration/segmentation_camera.cc
@@ -17,6 +17,8 @@
 
 #include <gtest/gtest.h>
 
+#include <gz/msgs/image.pb.h>
+
 #include <gz/common/Filesystem.hh>
 #include <gz/sensors/Manager.hh>
 #include <gz/sensors/SegmentationCameraSensor.hh>
@@ -33,16 +35,6 @@
 #pragma warning(pop)
 #endif
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
-
 #include "test_config.hh"  // NOLINT(build/include)
 #include "TransportTestTools.hh"
 
diff --git a/test/integration/thermal_camera.cc b/test/integration/thermal_camera.cc
index 7dac91c9..3c6dbb2e 100644
--- a/test/integration/thermal_camera.cc
+++ b/test/integration/thermal_camera.cc
@@ -17,16 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
 #include <gz/msgs/camera_info.pb.h>
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
+#include <gz/msgs/image.pb.h>
 
 #include <gz/common/Filesystem.hh>
 #include <gz/common/Event.hh>
diff --git a/test/integration/triggered_camera.cc b/test/integration/triggered_camera.cc
index 6274eff5..5c42d020 100644
--- a/test/integration/triggered_camera.cc
+++ b/test/integration/triggered_camera.cc
@@ -17,6 +17,9 @@
 
 #include <gtest/gtest.h>
 
+#include <gz/msgs/boolean.pb.h>
+#include <gz/msgs/image.pb.h>
+
 #include <gz/common/Console.hh>
 #include <gz/common/Filesystem.hh>
 #include <gz/sensors/CameraSensor.hh>
@@ -35,16 +38,6 @@
 #pragma warning(pop)
 #endif
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
-
 #include "test_config.hh"  // NOLINT(build/include)
 #include "TransportTestTools.hh"
 
diff --git a/test/integration/wide_angle_camera.cc b/test/integration/wide_angle_camera.cc
index ece39f60..2149f049 100644
--- a/test/integration/wide_angle_camera.cc
+++ b/test/integration/wide_angle_camera.cc
@@ -17,6 +17,8 @@
 
 #include <gtest/gtest.h>
 
+#include <gz/msgs/image.pb.h>
+
 #include <gz/common/Console.hh>
 #include <gz/common/Filesystem.hh>
 #include <gz/sensors/Manager.hh>
@@ -35,16 +37,6 @@
 #pragma warning(pop)
 #endif
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
-#endif
-#include <gz/msgs.hh>
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
-
 #include "test_config.hh"  // NOLINT(build/include)
 #include "TransportTestTools.hh"