参考：GAZEBO探索——给机器人加上bumper_gazebo bumper-CSDN博客

gazebo的bumper使用_gazebo bumper-CSDN博客
使用URDF在Gazebo中搭建碰撞仿真(bumper)_gazebo bumper-CSDN博客

gazebo官网中bumper插件介绍

Gazebo : Tutorial : Gazebo plugins in ROS

添加的到.urdf文件中的代码，参考了"pr2.urdf"文件pycram/resources/robots/pr2.urdf at c2ec6fa803382a25dd04113bc536f11a9e6c7ba4 · cram2/pycram · GitHub

<!-- Gazebo 碰撞检测插件 --><gazebo reference="base_link"><sensor name="bumper" type="contact"><update_rate>30.0</update_rate><always_on>true</always_on><contact><collision>base_link_fixed_joint_lump__quadcotper__collision_collision</collision></contact><plugin name="gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so"><alwaysOn>true</alwaysOn><updateRate>30.0</updateRate><bumperTopicName>bumper_states</bumperTopicName><frameName>bumper_link</frameName><visualize>true</visualize></plugin></sensor></gazebo>