/usr/share/sdformat/1.4/noise.sdf is in sdformat-sdf 2.0.0-6.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 | <element name="noise" required="1">
<description>The properties of a sensor noise model.</description>
<attribute name="type" type="string" default="none" required="1">
<description>
The type of noise. Currently supported types are:
"none" (no noise).
"gaussian" (draw noise values independently for each measurement from a Gaussian distribution).
"gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding))
</description>
</attribute>
<element name="mean" type="double" default="0.0" required="0">
<description>For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.</description>
</element>
<element name="stddev" type="double" default="0.0" required="0">
<description>For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.</description>
</element>
<element name="bias_mean" type="double" default="0.0" required="0">
<description>For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.</description>
</element>
<element name="bias_stddev" type="double" default="0.0" required="0">
<description>For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.</description>
</element>
<element name="precision" type="double" default="0.0" required="0">
<description>
For type "gaussian_quantized", the precision of output signals. A value
of zero implies infinite precision / no quantization.
</description>
</element>
</element>
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