These elements are specific to the IMU sensor. Topic on which data is published. The properties of the noise model that should be applied to generated data The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). Noise parameters for angular rates. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. Noise parameters for linear accelerations. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn.