Not AFAIK, however the fork "flexiefox" does support Firefox 5 (and have other fixes)..

Firefox 4, Firefox 5 and Firefox 6 with Elasticfox....

Also Firefox 5 and 6 says that the Elasticfox does not work there is a very simple workaround.

In your ~/.mozilla/firefox/$PROFILE.default/extensions directory

Find out witch .xpi file is your Elasticfox extention

Open the .xpi with an archive opener

From the archive open the install.rdf file

Find following TAG : maxVersion

Replace the value to something like 6.0.*

Save the file (confirm to update the archive)

Close the archive

Restart Firefox, the Elasticfox should run normaly