🎉 New feature

Related to gazebosim/gz-sensors/#501

Summary

Added support for defining noise models for orientation in imu's sdf. These changes are required for gz-sensor to add noise to orientation and publish the covariance.

Test it

1. Build gazebo from source.
2. Checkout this pr.
3. Switch your gz-sensors source to https://github.com/faseelmo/gz-sensors/tree/feature/imu_pose_noise#
4. Build the workspace.
5. Download and unzip imu_test.zip.
6. Run gz sim -r imu_test.sdf
7. Run gz topic -et /sensor/imu to see imu orientation published with noise and covariance.

Checklist

• Signed all commits for DCO
• Added a screen capture or video to the PR description that demonstrates the feature
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• Updated Bazel files (if adding new files). Created an issue otherwise.
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