gazebo6 sensor contact

I have a problem since I changed from gazebo2 to gazebo6 I have in my URDF this: true100.0left_foot_fsr1_link_collisionleft_foot_fsr2_link_collisionleft_foot_fsr3_link_collisionleft_foot_fsr4_link_collision/robot/left_foot_sensor The links fsr1, fsr2, fsr3, fsr4 are fixed to the parent. Using gz topic I can see the two topics: - /gazebo/default/robot/left_foot_link/left_foot_sensor/contacts - /robot/left_foot_sensor But messages in both of this topics are empty (only timestamp). While in the topic */gazebo/default/physics/contacts*, I can see: contact { collision1: "robot::left_foot_link::left_foot_link_lump::left_foot_fsr1_link_collision_1" collision2: "ground_plane::link::collision" position { x: 0.038235972692059896 y: 0.016852892204142138 z: -8.2373648911671e-05 } ... This used to work properly in gazebo 2.2, what did it change in gazebo6? Thanks!