- Additive "White Noise"
- Bias
This has some nice utility scripts and packages that allow for calculation of the noise values for use in both kalibr and IMU filters.
https://github.com/rpng/kalibr_allan
- throttle is a ROS node that subscribes to a topic and republishes incoming data to another topic, either at a maximum bandwidth or maximum message rate.
rosrun topic_tools throttle messages <in_topic> 4.0 [out_topic]