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For neater code. (this is a direct copy of what you wrote.)

<robot xmlns:xacro="http://ros.org/wiki/xacro"> 
<xacro:macro name="gazebo_fsensor_link_v0"> 
<gazebo reference="fsensor_link"> 
  <mu1>0.2</mu1> 
  <mu2>0.2</mu2> 
  <selfcollide>true</selfcollide> 
  <material>Gazebo/Red</material> 
  <sensor type="contact" name="fsensor_link_contact_sensor" &gt;="" <!--="" <geom="">sensor_link_geom</geom> -->
    <always_on>true</always_on> 
    <update_rate>100</update_rate> 
    <contact> 
      <collision>fsensor_link_collision</collision> 
    </contact> 
    <plugin name="fsensor_link_plugin" filename="libgazebo_ros_bumper.so">
      <bumpertopicname>fsensor_link_sensor_state</bumpertopicname> 
      <framename>fsensor_link</framename> 
    </plugin> 
  </sensor> 
</gazebo> 
</xacro:macro> 
</robot>