Add option to simulate noisy outputs from BaseState plugin

[xela-95]

I opened this issue to discuss about adding the possibility of injecting noise and bias to the outputs of the BaseState plugin, similarly to what is possible to do in Gazebo using <noise> tags, seehttps://classic.gazebosim.org/tutorials?tut=sensor_noise#IMUnoise

The motivation is that some complex sensors like the RealSense cannot be simulated through Gazebo IMU sensors, and this could come in help.

This optional feature could be enabled and configured via Yarp configurations.

CC @HosameldinMohamed @traversaro