[BeetleB]

They are somewhat orthogonal. You can have guilt with or without empathy. You definitely can have empathy without guilt.

If I give charity to a beggar, it is not because I feel guilty. I just want the help out the guy and I hope his condition improves. If I don't give charity to him, I don't feel guilty.

Guilt and responsibility often arise from cultural constructs, and indeed they partly exist to compel people who are not having empathy to act. Often it's a case of "You are a bad person for not giving money to that beggar" and so I give money to avoid being a "bad" person. NVC eschews the notion of "good" person and "bad" person, and encourages you to remove it from your internal dialogue. Give the guy money because you want to, not because of how others may perceive it.