Making Gazebo less perfect

[MoffKalast]

Our current simulation setup seems to be far too perfect to be any good for testing. So the idea would be to intentionally ruin some of the setup in a way that adds noise and uncertainty to the system.

Some ideas:

• in real life the lidar and camera extrinsics positions can be widely off, so we need to figure out how to add some angular and positional noise to these positions
• lidar data distance accuracy should be lowered
• linear odometry should be slightly lowered in accuracy, and angular odometry significantly

Lidar datasheet, showing range and accuracy: