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In general, the core ROS transports and message formats did not change between Fuerte and Groovy, so it should be possible to communicate between ROS versions without much trouble.
The biggest change between Fuerte and Groovy was the introduction of the catkin build system. If you want to use the same packages on both Fuerte and Groovy, you'll have to use the older rosbuild system for them; otherwise you won't be able to build them on Fuerte.
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