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This is a question which comes up many times, and which has many answers as well.

See (for example): #q37403 for a very old one. But also: #q76279 and #q315600, but there are many more.

Summarising: as long as the messages haven't changed between the two versions you'd like to use, things should just work, but there are no guarantees.

Note: changes here includes both the syntax (ie: types and names of fields as well as layout of bytes) and the semantics (ie: meaning of fields).

@stevemacenski wrote:

Officially and support wise? No.

I believe what Steve means here is that while things may work, questions you post which are likely related to incompatibilities between two different ROS versions might go unanswered and receive a reply similar to "please try again with both hosts using the same ROS version".

This is a question which comes up many times, and which has many answers as well.

I've considered closing yours as a duplicate, but seeing as you already had an answer, I figured I'd clarify a bit. Please try to use the search before posting new questions in the future (use Google and append site:answers.ros.org to your query).

See (for example): #q37403 for a very old one. Q&A about this topic. But also: #q76279 and #q315600, but and there are many more.

Summarising: as long as the messages haven't changed between the two versions you'd like to use, things should just work, but there are no guarantees.

Note: changes here includes both the syntax (ie: types and names of fields as well as layout of bytes) and the semantics (ie: meaning of fields).

@stevemacenski wrote:

Officially and support wise? No.

I believe what Steve means here is that while things may work, questions you post which are likely related to incompatibilities between two different ROS versions might go unanswered and receive a reply similar to "please try again with both hosts using the same ROS version".