diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
index eff16149ea..7af78219a5 100644
--- a/src/rendering/RenderUtil.cc
+++ b/src/rendering/RenderUtil.cc
@@ -356,9 +356,14 @@ class ignition::gazebo::RenderUtilPrivate
   /// RenderUtil::Update.
   /// \param[in] _actorAnimationData A map of entities to their animation update
   /// data.
+  /// \param[in] _entityPoses A map of entity ids and pose updates.
+  /// \param[in] _trajectoryPoses A map of entity ids and trajectory
+  /// pose updates.
   /// \sa actorManualSkeletonUpdate
   public: void UpdateAnimation(const std::unordered_map<Entity,
-              AnimationUpdateData> &_actorAnimationData);
+              AnimationUpdateData> &_actorAnimationData,
+              const std::unordered_map<Entity, math::Pose3d> &_entityPoses,
+              const std::unordered_map<Entity, math::Pose3d> &_trajectoryPoses);
 };
 
 //////////////////////////////////////////////////
@@ -804,7 +809,8 @@ void RenderUtil::Update()
     }
     else
     {
-      this->dataPtr->UpdateAnimation(actorAnimationData);
+      this->dataPtr->UpdateAnimation(actorAnimationData, entityPoses,
+          trajectoryPoses);
     }
   }
 
@@ -2028,8 +2034,10 @@ void RenderUtilPrivate::UpdateThermalCamera(const std::unordered_map<Entity,
 }
 
 /////////////////////////////////////////////////
-void RenderUtilPrivate::UpdateAnimation(
-    const std::unordered_map<Entity, AnimationUpdateData> &_actorAnimationData)
+void RenderUtilPrivate::UpdateAnimation(const std::unordered_map<Entity,
+    AnimationUpdateData> &_actorAnimationData,
+    const std::unordered_map<Entity, math::Pose3d> &_entityPoses,
+    const std::unordered_map<Entity, math::Pose3d> &_trajectoryPoses)
 {
   for (auto &it : _actorAnimationData)
   {
@@ -2098,16 +2106,18 @@ void RenderUtilPrivate::UpdateAnimation(
 
     // update actor trajectory animation
     math::Pose3d globalPose;
-    if (entityPoses.find(it.first) != entityPoses.end())
+    auto entityPosesIt = _entityPoses.find(it.first);
+    if (entityPosesIt != _entityPoses.end())
     {
-      globalPose = entityPoses[it.first];
+      globalPose = entityPosesIt->second;
     }
 
     math::Pose3d trajPose;
     // Trajectory from the ECS
-    if (trajectoryPoses.find(it.first) != trajectoryPoses.end())
+    auto trajectoryPosesIt = _trajectoryPoses.find(it.first);
+    if (trajectoryPosesIt != _trajectoryPoses.end())
     {
-      trajPose = trajectoryPoses[it.first];
+      trajPose = trajectoryPosesIt->second;
     }
     else
     {
diff --git a/test/integration/follow_actor_system.cc b/test/integration/follow_actor_system.cc
index 654e578c85..566384f1bf 100644
--- a/test/integration/follow_actor_system.cc
+++ b/test/integration/follow_actor_system.cc
@@ -18,6 +18,7 @@
 #include <gtest/gtest.h>
 #include <ignition/common/Console.hh>
 #include <ignition/math/Pose3.hh>
+#include <ignition/utilities/ExtraTestMacros.hh>
 
 #include "ignition/gazebo/components/Actor.hh"
 #include "ignition/gazebo/components/Name.hh"
@@ -88,7 +89,7 @@ class Relay
 
 
 /////////////////////////////////////////////////
-TEST_P(FollowActorTest, PublishCmd)
+TEST_P(FollowActorTest, IGN_UTILS_TEST_DISABLED_ON_MAC(PublishCmd))
 {
   // Start server
   ServerConfig serverConfig;
diff --git a/test/worlds/follow_actor.sdf b/test/worlds/follow_actor.sdf
index 1bc7015a70..a02a444fc6 100644
--- a/test/worlds/follow_actor.sdf
+++ b/test/worlds/follow_actor.sdf
@@ -1,6 +1,46 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <world name="actors">
+
+    <!-- add sensors system and camera so that the rendering code is also tested
+    -->
+    <plugin
+      filename="ignition-gazebo-sensors-system"
+      name="ignition::gazebo::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <model name="camera">
+      <static>true</static>
+      <pose>0 0 0 0 0 0</pose>
+      <link name="link">
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>0.1 0.1 0.1</size>
+            </box>
+          </geometry>
+        </visual>
+        <sensor name="camera" type="camera">
+          <pose>1 0 1.3 0 0 0</pose>
+          <camera>
+            <horizontal_fov>1.047</horizontal_fov>
+            <image>
+              <width>320</width>
+              <height>240</height>
+            </image>
+            <clip>
+              <near>0.1</near>
+              <far>100</far>
+            </clip>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>30</update_rate>
+          <visualize>true</visualize>
+          <topic>camera</topic>
+        </sensor>
+      </link>
+    </model>
+
     <model name="box">
       <static>true</static>
       <pose>1 -2 0.5 0 0 0</pose>