diff --git a/src/SdfEntityCreator.cc b/src/SdfEntityCreator.cc
index 8d8be86491..1c45bfc4e8 100644
--- a/src/SdfEntityCreator.cc
+++ b/src/SdfEntityCreator.cc
@@ -319,9 +319,6 @@ void SdfEntityCreator::CreateEntities(const sdf::World *_world,
         components::SphericalCoordinates(*_world->SphericalCoordinates()));
   }
 
-  this->dataPtr->eventManager->Emit<events::LoadSdfPlugins>(_worldEntity,
-      _world->Plugins());
-
   // Models
   for (uint64_t modelIndex = 0; modelIndex < _world->ModelCount();
       ++modelIndex)
@@ -331,7 +328,7 @@ void SdfEntityCreator::CreateEntities(const sdf::World *_world,
         levelEntityNames.find(model->Name()) != levelEntityNames.end())
 
     {
-      Entity modelEntity = this->CreateEntities(model);
+      Entity modelEntity = this->CreateEntities(model, false);
 
       this->SetParent(modelEntity, _worldEntity);
     }
@@ -381,7 +378,7 @@ void SdfEntityCreator::CreateEntities(const sdf::World *_world,
       if (_world->ModelNameExists(_ref->Data()))
       {
         const sdf::Model *model = _world->ModelByName(_ref->Data());
-        Entity modelEntity = this->CreateEntities(model);
+        Entity modelEntity = this->CreateEntities(model, false);
         this->SetParent(modelEntity, _worldEntity);
         this->SetParent(_entity, modelEntity);
       }
@@ -456,6 +453,12 @@ void SdfEntityCreator::CreateEntities(const sdf::World *_world,
   // Store the world's SDF DOM to be used when saving the world to file
   this->dataPtr->ecm->CreateComponent(
       _worldEntity, components::WorldSdf(*_world));
+
+  this->dataPtr->eventManager->Emit<events::LoadSdfPlugins>(_worldEntity,
+      _world->Plugins());
+
+  // Load model plugins after the world plugin.
+  this->LoadModelPlugins();
 }
 
 //////////////////////////////////////////////////
diff --git a/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc b/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc
index a460e620c2..e4d633cd59 100644
--- a/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc
+++ b/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc
@@ -405,7 +405,7 @@ void LogicalAudioSensorPluginPrivate::CreateAudioSource(
     };
 
   // create services for this source
-  const auto validName = topicFromScopedName(entity, _ecm, false);
+  const auto validName = topicFromScopedName(entity, _ecm, true);
   if (validName.empty())
   {
     gzerr << "Failed to create valid topics with entity scoped name ["
@@ -503,7 +503,7 @@ void LogicalAudioSensorPluginPrivate::CreateMicrophone(
 
   // create the detection publisher for this microphone
   auto pub = this->node.Advertise<msgs::Double>(
-      topicFromScopedName(entity, _ecm, false) + "/detection");
+      topicFromScopedName(entity, _ecm, true) + "/detection");
   if (!pub)
   {
     gzerr << "Error creating a detection publisher for microphone "
diff --git a/src/systems/pose_publisher/PosePublisher.cc b/src/systems/pose_publisher/PosePublisher.cc
index 28fbbdc8d4..395f3dc9bf 100644
--- a/src/systems/pose_publisher/PosePublisher.cc
+++ b/src/systems/pose_publisher/PosePublisher.cc
@@ -252,7 +252,7 @@ void PosePublisher::Configure(const Entity &_entity,
   this->dataPtr->usePoseV =
     _sdf->Get<bool>("use_pose_vector_msg", this->dataPtr->usePoseV).first;
 
-  std::string poseTopic = topicFromScopedName(_entity, _ecm, false) + "/pose";
+  std::string poseTopic = topicFromScopedName(_entity, _ecm, true) + "/pose";
   if (poseTopic.empty())
   {
     poseTopic = "/pose";