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RGBD camera noise model

I saw there are many sensor models and plugins in order to simulate an RGB camera (either Asus, Kinect, etc). However, I do not see any way to include noise in both RGB and Depth, neither in Gazebo nor in the available plugins. I tried the <noise> tag in the sensor but it seems to have no effect.

Is there any gazebo_ros plugin (or Gazebo plugin) somewhere to simulate the RGB camera more accurately?

Thank you!

For completeness, I include the part of the sensor of my model:

    <sensor type="depth" name="rgbd_camera">
            <noise>   <!-- This does apparently nothing neither RGB nor depth-->
        <plugin name="multirotor_rgbd_plugin" filename="">