Do you consider Rosencrantz and Guildenstern innocent or guilty?
I tend to consider them as guilty as possible. Not only did they come to Denmark at the behest of Claudius, they also quickly and readily gave him everything he asked for. The only way one might consider them being not guilty would be the fact that they are so stupid that they might not totally understand everything that Claudius is asking them for. Hamlet certainly makes a fool out of them often enough.
But they always choose to give their loyalty to Claudius rather than their "friend" Hamlet. Considering their willingness to go along with his "authority" rather than their relationship with Hamlet, I'd say they are guilty as possible.