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According to the wiki, GazeboRosBumper plugin provides contact feedback via ContactsState message. So you will need to subscribe to the topic that is publishing that message.

rostopic (list, info, type...) is your friend.

More generally, you should search on answers.ros (and also pay attention to tags). When I select the "bumper" tag (or include it as an "Interesting tag" on the right menu), one of the questions that is listed is "How do I use force sensor/ bumper sensor in Gazebo" and "Reading bumper state from PR2"

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