force/torque readings noisy

[lr101095]

Please refer to image provided. For reference, I'm using a nano17 on the effector of a sawyer arm.

I'm getting noisy readings. In addition to this, when visualising WrenchStamped in rviz, I get the following status:

Transform [sender=unknown_publisher]
For frame [sawyer_ft_sensor_nano17_measure]: No transform to fixed frame [base]. TF error: [Lookup would require extrapolation into the future. Requested time 43.803000000 but the latest data is at time 43.801000000, when looking up transform from frame [sawyer_ft_sensor_nano17_measure] to frame [base]]

WrenchStamped status fluctuates irregularly between the above status and "Transform: OK". However, "Transform [sender=unknown_publisher]" still remains the same.

Any suggestions/improvements/solutions appreciated.

[lieftinkrj]

Having the same issue, any update?