Add noise and latency to the joints feedback

[TPODAvia]

I found that there's no configuration options for the feedback data. Is there any way to simulate the feedback noise and latency from the gazebo joints?

[christophfroehlich]

Not as far as I know, but this would be a great feature. Feel free to open a PR on adding such configuration options for every interface. I'd also include limited resolution, e.g. for position encoders.