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Git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git into your catkin workspace and build it, it will supersede the version probably installed on your system under /opt.

You want to check out the branch that matches your system (e.g. kinetic-devel or jade-devel).

If it is running correctly then start editing the plugin gazebo_plugins/src/gazebo_ros_bumper.cpp .

With more effort you could make your own catkin package and bring in gazebo_ros_bumper.cpp, then rename it and modify it and have it coexist as a different bumper type alongside the standard version.

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