I am using Gazebo 2 with ROS Indigo to simulate XtionProLive cameras and test my perception code. I would like to add white noise on the depth to get more realistic pointClouds. I looked up the gazeborosdepthcamera and gazeborosopennikinect plugins but couldn't find how to add noise on the depth.

I managed to add noise on the rgb using

<camera>
  <noise>
    <type>gaussian</type>
    <mean>0.0</mean>
    <stddev>0.007</stddev>
  </noise>
</camera>

Thank you for any help you may provide!