diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc
index 69222d2209..7ba021d997 100644
--- a/src/systems/sensors/Sensors.cc
+++ b/src/systems/sensors/Sensors.cc
@@ -841,6 +841,11 @@ bool SensorsPrivate::HasConnections(sensors::RenderingSensor *_sensor) const
 
   // \todo(iche033) Remove this function once a virtual
   // sensors::RenderingSensor::HasConnections function is available
+  {
+    auto s = dynamic_cast<sensors::RgbdCameraSensor *>(_sensor);
+    if (s)
+      return s->HasConnections();
+  }
   {
     auto s = dynamic_cast<sensors::DepthCameraSensor *>(_sensor);
     if (s)