In the 616 continuity (the comics), Rocket and other small animals were granted humanoid abilities & intelligence so that they could act as "companions" (think seeing-eye dog) for mental patients on Halfworld. Rocket eventually ended up in a role much like that of the head guard at the asylum, but through later events found a way to cure all of the patients at the asylum.
After the patients were cured, most of the animal companions left the planet to have their own adventures, but only Rocket's adventures were shown in the comics.