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I am assuming you have seen this: Sensor Noise Tutorial ? If not I would start there. Here is a brief explanation of the tags: <type> This tag essentially specifies what type of distribution your noise comes from. 95% of the time you should just specify Gaussian, unless you are trying to model a sensor you have for a physical robot and you know its noise profile is different. In that case you will have to make your own noise type. Otherwise, the other tags kind of fall into place, because they basically provide the parameters needed to make such a distribution.

You could also look here: Noise Class Reference if you were planning on getting very detailed with it.

All that said, I haven't personally used this myself. I just figured I could get the obvious stuff out of the way if you hadn't discovered them yet. Based on your last two questions I am guessing you will need to make your own noise type.