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Have you tried writing Contacts() with upper case, instead of lower case?

contacts = this->parentSensor->Contacts();

Have you tried writing For Gazebo 7+, it should be Contacts() with upper case, instead of lower case?case.

contacts = this->parentSensor->Contacts();

For previous versions:

contacts = this->parentSensor->GetContacts();

Be sure to check the Gazebo version on the tutorial's top-right corner.