Noise model for realsense d435

[MarioCavero]

I have been using the rgbd information from the simulated d435 in ros2 humble. It wasn't until comparing a real realsense output that I adverted the quality of the depth map in simulation is almost ground truth (due to perfect conditions/no noise in simulation). And I'm only using it for 1m as max 1.5 meters.

The parameters of noise in the gazebo.xacro file seem to not do anything at all. I have already been thinking in processing ways as Multiplicative Gaussian Noise, in combination to edges and neighbor pixels. There is also a possibility to create a depth by projecting the diff of 2 simulated stereo, but it seems it is also very environment-dependent.
I have researched and apart from a Kinect adding noise repo, other users experiencing a similar issue with graphic engines in general that simulate with almost perfection. There exist some papers related to this but no documentation regarding this specific issue.

Any help would be appreciated.

And reality changes quite a bit in regards of the depth map, although the pointcloud seems more or less fine, I think it has too much detail in simulation.