From an email conversation I just had with the package author, Word-of-$DEITY is:
Cisco's "context implementation" is vendor specific and is not standards based. The use of "contexts" is officially defined in the SNMPv3 RFCs (specifications). The Net::SNMP modules tries to follow the RFCs in its implementation. I would have to go back to the RFCs determine if it is legal to respond to an SNMP v1/2c message with a "community" string that is not the same as the one with which the request was made. This is the problem that you are seeing.
You are most likely not going to get Cisco to change their implementation even if it is violating an RFC, so your only recourse is to comment out the code in the Net/SNMP/Security/Community.pm module that is returning an error on the send/receive of differing community strings. I typically do not add modification to the module to work around vendor specific problems.
Rather than comment out the relevant section of the Community.pm (which is used by far more on my server than just this script), I have instead elected to shim/monkey-patch the method in question in my own code, for example:
no warnings 'redefine';
use Net::SNMP::Security::Community;
*Net::SNMP::Security::Community::process_incoming_msg = sub { return 1; };
This way, the failing method is bypassed in favour of just accepting any returned community string.
Filthy dirty on all counts, but acceptable within my controlled environment. Anyone coming across this in the future should make sure that version != 6.0.1 hasn't changed the way this module works, or what the existing subroutine does before attempting the same.