From 05624a131419ea755501fcfa3e97215247971520 Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Mon, 28 Apr 2025 16:01:19 -0700
Subject: [PATCH]  Do not create light visuals on server side (#2888)

Signed-off-by: Ian Chen <ichen@openrobotics.org>
(cherry picked from commit 6444e713aea9f0766061fa6794e6ebf34c59111d)
---
 src/rendering/RenderUtil.cc | 19 +++++++++++--------
 1 file changed, 11 insertions(+), 8 deletions(-)

diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
index 9b2cbf8acd..24caa7d0ff 100644
--- a/src/rendering/RenderUtil.cc
+++ b/src/rendering/RenderUtil.cc
@@ -1261,14 +1261,17 @@ void RenderUtil::Update()
 
       if (newLightRendering)
       {
-        rendering::VisualPtr lightVisual =
-          this->dataPtr->sceneManager.CreateLightVisual(
-            std::get<0>(light) + 1,
-            std::get<1>(light),
-            std::get<2>(light),
-            std::get<0>(light));
-        this->dataPtr->matchLightWithVisuals[std::get<0>(light)] =
-          std::get<0>(light) + 1;
+        if (!this->dataPtr->enableSensors)
+        {
+          rendering::VisualPtr lightVisual =
+            this->dataPtr->sceneManager.CreateLightVisual(
+              std::get<0>(light) + 1,
+              std::get<1>(light),
+              std::get<2>(light),
+              std::get<0>(light));
+          this->dataPtr->matchLightWithVisuals[std::get<0>(light)] =
+            std::get<0>(light) + 1;
+        }
       }
       else
       {