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You need apply the name attribute to your collision tag such as:

<collision name="bump_sensor_collision">
...
</collision>

This should make it work. However if specifying in urdf or xacro you may still have an issue in that the sensor doesn't output anything. In that case suffix the

<contact>
       <collision>bump_sensor_collision</collision>
</contact>

with a _collision, such that it reads:

<contact>
       <collision>bump_sensor_collision_collision</collision>
</contact>

This trick was due to how the sdf is generated from the urdf file, in that it was appending a _collision to the name attribute of the collision specification.

You need apply the name attribute to your collision tag such as:

<collision name="bump_sensor_collision">
...
</collision>

This should make it work. However if specifying in urdf or xacro you may still have an issue in that the sensor doesn't output anything. In that case suffix the

<contact>
       <collision>bump_sensor_collision</collision>
</contact>

with a _collision, _collision, such that it reads:

<contact>
       <collision>bump_sensor_collision_collision</collision>
</contact>

This trick was due to how the sdf is generated from the urdf file, in that it was appending a _collision to the name attribute of the collision specification.