ROS2 mobile robot simulation: why inject systematic errors into odom, lidar, and IMU rather than only white noise

The article discusses why injecting only Gaussian white noise in ROS2 mobile robot simulation is insufficient for validating fusion algorithms, focusing on systematic errors such as bias, scale, and mounting misalignment that cannot be averaged out by filtering, and provides a complete approach for injecting systematic errors into odom, lidar, and IMU.