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Does roo generated controllers support Content Negotiation for REST?Page Title Module
What you are looking for is Springs new ContentNegotiatingViewResolver which allows you to configure the document types. It is documented here http://tinyurl.com/kpexuu and allows you to render views in XML, JSON, ATOM and a couple more.
This feature is not currently enabled by default in Roo managed applications but can be easily added to the webmvc-config.xml file. Keep in mind when you setup JSON with the Jackson library you will need to deal with cyclic references.