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Let me add my 0.2 cents.
Fuerte is now unsupported by upstream ROS, and although there are specific instructions to keep the system using drcsim-3.0 (still in Fuerte), I highly recommend move to Groovy (or newer) as soon as possible since starting with drcsim-3.2 new features won't be released under fuerte.
The problem for fuerte is that it lacks of fully catkin support and even compile drcsim from source will probably require you to modify the build system to back to rosbuild.
To avoid this migration problems and help with your decision about which platform to use, there is a draft of release plan sent today to gazebo mail list.
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