unstable force obtained from Contact Sensor

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Hi all,

I'm using the contact sensor plugin in ros (libgazebo_ros_bumper.so) to get the contact forces from gazebo. It works very well for the contact positions, but it's extremely unstable in the force computation. Basically i have the same problem seen here, i tried adjusting those parameters, but without success. I also tried averaging the last 50 samples, but the result is still highly oscillating.

Someone knows how to get a reliable contact force?

I'm using Ubuntu 12.04, Ros Hydro, Gazebo 1.9.6