How can I put noise to my P3DX model?

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Hi Ros Users :

I am trying to put noise to my P3DX model wich is https://github.com/RafBerkvens/ua_ros... Because the model behaviour is unrealistic.

Does Anybody know what I must modify in the code to do that?

Thanks!!!!

In respose to your comment @Javi V.

I modify this part of the code:

 <!-- ground truth -->
<gazebo>
<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>${ns}/base_pose_ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>map</frameName>
<!-- initialize odometry for fake localization -->
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
</gazebo>

in Gaussian noise but it does the same... any ideas? Do I have to change something else to make this work ?