<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
    <gazebo reference="laser_frame">
        <material>Gazebo/Red</material>
        <sensor name="imu_sensor" type="imu">
          <ignition_frame_id>laser_frame</ignition_frame_id>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>false</visualize>
          <topic>/lidar/imu</topic>
          <angular_velocity>
            <x>
              <noise>
                <type>gaussian</type>
                <mean>0.0</mean>
                <stddev>0.01</stddev>
              </noise>
            </x> 
            <y>
              <noise>
                <type>gaussian</type>
                <mean>0.0</mean>
                <stddev>0.01</stddev>
              </noise>
            </y>
            <z>
              <noise>
                <type>gaussian</type>
                <mean>0.0</mean>
                <stddev>0.01</stddev>
              </noise>
            </z> 
          </angular_velocity>
          <linear_acceleration>
            <x>
              <noise>
                <type>gaussian</type>
                <mean>0.0</mean>
                <stddev>0.01</stddev>
              </noise>
            </x> 
            <y>
              <noise>
                <type>gaussian</type>
                <mean>0.0</mean>
                <stddev>0.01</stddev>
              </noise>
            </y>
            <z>
              <noise>
                <type>gaussian</type>
                <mean>0.0</mean>
                <stddev>0.01</stddev>
              </noise>
            </z>
          </linear_acceleration>
      </sensor>
    </gazebo>  
</robot>