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I have the same problem. I cannot seem to get anything published on the bumper topic (ROS Kinetic @ 16.04, everything from packages) I have given up for now but if you are interested in pursuing this further, here is some information.
The bumper messages are sent by a gazebo plugin called gazebo_ros_kobuki. You can find where it is included in the file kobuki_gazebo.urdf.xacro. Here is that file's source: https://github.com/yujinrobot/kobuki_description/blob/master/urdf/kobuki_gazebo.urdf.xacro
The source code for the plugin is here: https://github.com/yujinrobot/kobuki_desktop/tree/kinetic/kobuki_gazebo_plugins. Recent commit history: https://github.com/yujinrobot/kobuki_desktop/commits/kinetic/kobuki_gazebo_plugins
I cannot easily see the problem and don't have time to set this up this right now for debugging so my answer can be a bit unsatisfying.
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