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How to Publish to a topic of type Gazebo/ContactState for UR5?

Hello, I want to create a contact sensor for UR5 Robot and publish collision detection into a topic so that I can use that information to perform some other tasks. Can someone please provide me any hints regarding this problem or share me a link if this work has been performed before with regards to UR5 Robot?

How to Publish to a topic of type Gazebo/ContactState for UR5?

Hello, I want to create a contact sensor for UR5 Robot and publish collision detection into a topic so that I can use that information to perform some other tasks. Can someone please provide me any hints regarding this problem or share me a link if this work has been performed before with regards to Universal Robot UR5 Robot?