This work forcus on the development of gas sensor that measure the concentrations of exhaust gas using diode laser, Each diode laser for exhaust gas measurement is set to work at near-IR using both DA and WMS methods. Also use of fiber-coupled optical elements makes such a sensor rugged and easy to align. The results showed that gas concentrations of $O_2$, CO, $CO_2$, NO are accurately measured within ${pm}2%$ error. The application of WMS method increased the beam intensity 2-3 times higher than DA method. It were experimentally compared WMS (Wavelength Modulation Spectroscopy) with DA (Direct Absorption) for the accuracy.