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Hi,

I faced a similar problem and found the following resolution to work: construct the geom tag by appending _geom to the link name.

In your case, since the link name is thdistal, changing

distal_collision_geom to thdistal_geom

should avoid crashing gazebo on launch and enable the contact messages. The reason might have something to do with how the urdf is translated to the format understood by gazebo. (look at urdf2gazebo.cpp)

Also, as was mentioned in the previous answer, I found that contact messages were generated only when the link geometry is in contact.