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IMU simulator from hector_gazebo_plugins is noisy even when configured to be pristine

Howdy folks,

I am using GazeboRosImu from hector_gazebo_plugins ( ) and I noticed that even when I set my biases, drifts, offsets, etc.. all to zero, and the wheeled robot the IMU is mounted on is not moving, I still get noisy accelerations passed through.

When digging a little bit into the code (gazebo_ros_imu.cpp) I noticed that the call to Link::GetWorldLinearVel() is noisy and has a bias. Since this linear velocity is differentiated in gazebo_ros_imu.cpp to produce the linear acceleration, it will also be noisy as a result.

Is this normal Gazebo behavior?