Gazebo Bumper Plugin for Flappy Bird

flappy_bird_bumper_plugin.xml

<!-- Bumper Plugin to get collision information from Flappy Bird model -->

<gazebo reference="base_link">
  <sensor name="collision_sensor" type="contact">
    <update_rate>100.0</update_rate>
    <always_on>true</always_on>
    <contact>
      <!-- retrieved from converting urdf to sdf -->
      <collision>base_footprint_fixed_joint_lump__collision_collision</collision>
      <topic>bumper_contact</topic>
    </contact>
    <plugin name="collision_plugin" filename="libgazebo_ros_bumper.so">
      <update_rate>100.0</update_rate>
      <always_on>true</always_on>
      <bumperTopicName>/robot_bumper</bumperTopicName>
      <frameName>base_link</frameName>
    </plugin>
  </sensor>
</gazebo>