publishes a custom rostopic message from the gazebo::msgs:contacts gz topic
The need for this whole thing arrises from the lack of communication tools between Gazebo and Matlab. Maybe this is because I don't understand correctly how to use them. Anyway, this solves my problem. I hope it helps solve yours too.
Don't expect maintenance on this package, as of this date I plan only to use it as it is.
You can ask questions but keep in mind that you probably know more than me about ROS or gazebo.