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For the collision problem I think you have just specified a visual tag for your collada mesh but forgot to set a collision tag.

It has to look like this

<model name='test'>
  <link name='test_link'>

    <collision name='collision'>
      <geometry>
        <mesh>
          <uri>model://test_pkg/meshes/test_mesh.dae</uri>
        </mesh>
      </geometry>
    </collision>

    <visual name='visual'>
      <geometry>
        <mesh>
          <uri>model://test_pkg/meshes/test_mesh.dae</uri>
        </mesh>
      </geometry>
    </visual>

  </link>
</model>

For your other problem I don't have an answer. I don't really know how many vertices can be displayed. I always simplify my meshes in Meshlab. You could use a very nice mesh for visual and a simplified one for collision.