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I found what could be considered a quick fix but this isn't pretty :

You need to add a "_collision" between the collision name which is inside the link ( without it ) and the one inside the gazebo flag ( with it )

More detail here : http://answers.gazebosim.org/question/15095/gazebo-contact-sensor-added-to-a-robot-link-in-urdf-file-is-not-working-as-expected/?answer=15243#post-id-15243

TTDM

I found what I think could be considered a quick fix but this isn't pretty :

You need to add a "_collision" between the collision name which is inside the link ( without it ) and the one inside the gazebo flag ( with it )

More detail here : http://answers.gazebosim.org/question/15095/gazebo-contact-sensor-added-to-a-robot-link-in-urdf-file-is-not-working-as-expected/?answer=15243#post-id-15243

Anyway I made it work here so if you ned help jsut ask

TTDM

I found what I think could be considered a quick fix but this isn't pretty :

You will need to add a "_collision" between the collision name which is inside the link ( without it ) and the one inside the gazebo flag ( with it )).

More detail here This may not be enough, you may have to add the link name and some other info too... So i invite you to go in the link just below to have a more detailed answer : http://answers.gazebosim.org/question/15095/gazebo-contact-sensor-added-to-a-robot-link-in-urdf-file-is-not-working-as-expected/?answer=15243#post-id-15243

Anyway I made it work here so if you ned help jsut just ask and i will try my best to help you

TTDM