When trying to enable contacts on links with no collisions, return false

cpp/scenario/gazebo/src/Link.cpp

@@ -330,6 +330,12 @@ bool Link::enableContactDetection(const bool enable)
             ignition::gazebo::components::Collision(),
             ignition::gazebo::components::ParentEntity(m_entity));
 
+        if (collisionEntities.empty()) {
+            sError << "Failed to enable contact detection, the link has no "
+                   << "collision elements" << std::endl;
+            return false;
+        }
+
         // Create the contact sensor data component that enables the Physics
         // system to extract contact information from the physics engine
         for (const auto collisionEntity : collisionEntities) {