Revert behavior change introduced in gazebosim#2452

PR gazebosim#2452 changed the loading order of plugins attached to worlds and models. While the change is desirable, it changed the behavior of functions like `topicFromScopedName`. This reverts the behavior and the changes in associated tests.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

src/SdfEntityCreator.cc

@@ -337,7 +337,7 @@ void SdfEntityCreator::CreateEntities(const sdf::World *_world,
         levelEntityNames.find(model->Name()) != levelEntityNames.end())
 
     {
-      Entity modelEntity = this->CreateEntities(model, false);
+      Entity modelEntity = this->CreateEntities(model);
 
       this->SetParent(modelEntity, _worldEntity);
     }
@@ -387,7 +387,7 @@ 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, false);
+        Entity modelEntity = this->CreateEntities(model);
         this->SetParent(modelEntity, _worldEntity);
         this->SetParent(_entity, modelEntity);
       }
@@ -450,17 +450,13 @@ void SdfEntityCreator::CreateEntities(const sdf::World *_world,
   this->dataPtr->ecm->CreateComponent(
       _worldEntity, components::WorldSdf(*_world));
 
-  // Load world plugins first.
   this->dataPtr->eventManager->Emit<events::LoadSdfPlugins>(_worldEntity,
       _world->Plugins());
 
   GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
   this->dataPtr->eventManager->Emit<events::LoadPlugins>(_worldEntity,
         _world->ToElement());
   GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
-
-  // Load model plugins after the world plugin.
-  this->LoadModelPlugins();
 }
 
 //////////////////////////////////////////////////

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, true);
+  const auto validName = topicFromScopedName(entity, _ecm, false);
   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, true) + "/detection");
+      topicFromScopedName(entity, _ecm, false) + "/detection");
   if (!pub)
   {
     gzerr << "Error creating a detection publisher for microphone "

src/systems/pose_publisher/PosePublisher.cc

@@ -250,7 +250,7 @@ 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, true) + "/pose";
+  std::string poseTopic = topicFromScopedName(_entity, _ecm, false) + "/pose";
   if (poseTopic.empty())
   {
     poseTopic = "/pose";