Well, apart from adding some fish[1] support to ROS core I worked on these guys[2] at Vecna and they mostly use ROS. A pretty common pattern in commercial use

Well, apart from adding some fish[1] support to ROS core I worked on these guys[2] at Vecna and they mostly use ROS. A pretty common pattern in commercial use of ROS is to start out with a vanilla setup and replace important nodes with ones you've written to work the way you need them to. At my current job we don't use ROS but being able to look at the ROS drivers of commercial arms is a big help in making our own drivers. [1]https://fishshell.com/ https://fishshell.com/ [2]https://robotics.vecna.com/ https://robotics.vecna.com/