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DRCSIM: Which ROS versions will be supported?

The current drcsim uses ROS Fuerte for the controllers and basic interfaces, but uses the standalone Gazebo system.

The anticipated release of ROS Groovy has major changes to the representations and build systems, while Fuerte does not have all of the new updated packages.

Which versions will be supported in drcsim going forward? What is the timetable for Groovy support if applicable?