gazebo仿真之传感器噪声

详细的官网教程：http://gazebosim.org/tutorials?tut=sensor_noise&cat=sensors
这里汇总三种传感器添加噪声的方法以便到时查找：
Ray：

<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="hokuyo">
    <link name="link">
      <gravity>false</gravity>
      <inertial>
        <mass>0.1</mass>
      </inertial>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://hokuyo/meshes/hokuyo.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <sensor name="laser" type="ray">
        <pose>0.01 0 0.03 0 -0 0</pose>
        <ray>
          <scan>
            <horizontal>
              <samples>640</samples>
              <resolution>1</resolution>
              <min_angle>-2.26889</min_angle>
              <max_angle>2.268899</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.08</min>