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Hi Vorilant!
I have been trying to do this for my simulated drone - hector_quadrotor package - but I still haven't succeeded. The related paper explains quite nicely the idea to implement a drifting noise but it is not implemented yet.
In my situation, the odometry is send by Gazebo as a ground_truth message and the plugin that is used is P3D. When I digged into the URDF files, I found a Gaussian Noise parameter. We I changed it, it just fix static values inside the covariance matrix of the given odometry... Not really what we want to do, as we are looking for drift effect...
Let me know if you get any progress, Quentin