Is there any Documenation about the RANGE plugin?(other then the obvious)

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Hi,

i'm currently using this plugin: libgazebo_ros_range.so . I have to use this one with predefined params from other robots.

This is the part im using, it works all fine but I'm wondering if there is potential for improvement:

  <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
        <gaussianNoise>0.005</gaussianNoise>
        <alwaysOn>true</alwaysOn>
        <updateRate>5</updateRate>
        <topicName>range/fl</topicName>
        <frameName>range_front_left_frame</frameName>
        <fov>0.1</fov>
        <radiation>ultrasound</radiation>   
   </plugin>

I cant find an proper explanation for all the parameters for example: can i change ultrasound to something else?

Do you guys have an link where i can read more about this plugin? I looked through the tutorial and couldn't find anything. Also this page couldn't help much, perhaps i'm using the page wrong?

Best Regards, David