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Well, if you're looking to check for contact between models, the first thing that pops into my head is the gazebo_ros_bumper gazebo plugin. You can find the source code here if you want to look through it. That might provide you with a good starting point.

When I was looking to detect collision, I simply made my robot a gigantic bump sensor. That allowed me to subscribe to the bumper topic and find collisions that way. It's not the most efficient method, but it was a quick fix for me.