Characterize odom noise

[gmfricke]

Enable noise in yaml file.

[Carter90]

FYI looks like 4 days ago they changed up the Imu Sensor library
https://gitlab.com/scheducation/srcp2-final-public/-/blob/293768127678d4b12c5b57e4ad6399f5e0a07b6e/ros_workspace/install/lib/libImuSensor.so
so if you have done testing make note of that