IMU Orientation ("magnetometer") noise?

[shonigmann]

The sensor noise tutorial mentions that IMU orientation uses perfect state information. Was there ever an effort to add the possibility of adding orientation uncertainty? This would certainly help create more realistic simulations of the somewhat noisy magnetometers that are on typical MEMS IMUs. Looks like its blocking for gazebo_ros_plugins as well (also mentioned in ros-simulation/gazebo_ros_pkgs#1240)

It also looks like there was some work on a dedicated magnetometer sensor plugin, but it still seems to be an open issue. To me at least, it would be preferable to have the functionality within the IMU plugin.

Any insight would be welcome, cheers. Also apologies if this should instead be posted on the gazebo repo. I'm happy to move it if that would be more appropriate.