How To Increase IMU simulation rate for Lidar Odometry compatibility

[lucasfroes232]

Context: State-of-the-art Lidar Odometry algorithms (like LIO-SAM) require high-frequency IMU data (typically >200Hz) to perform accurate motion deskewing of the point cloud.

Problem: The current simulation default is 100Hz. This creates a discrepancy between simulation and real-world Ouster/Velodyne sensors (which often output 400Hz+ IMU), causing SLAM algorithms to behave poorly in Sim vs Real.

Question:What is the best practice to increase the imu rate? Currently i hardcoded it in:
/opt/ros/noetic/share/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf file component_snippets.sdf.jinja
Changing the following tags in IMU section:
<update_rate>300</update_rate> and <updateRateHZ>300</updateRateHZ>