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Changing major versions of a software package will likely come with changes to the API. It's not guaranteed that you will have to change your code, but you should be prepared.

Take a look at our versioning methodology, and the tick-tock model we use when changing the API.

The latest major version of Gazebo is 6, and it comes with a slew of bug fixes and new features. A migration guide is available to help upgrade your code.

Without any more information about your project, we can only suggest to use the latest released versions of ROS and Gazebo.