there is quite some interest in using ROS nodes from within RobMoSys tooling. We foresee the concept of mixed-port-components for ROS1: these components have “one leg” in the ROS world and “another leg” in the RobMoSys world. We have demonstrated this before with other frameworks such as YARP: https://robmosys.eu/wiki/community:yarp-with-robmosys:start
The upcoming release of the SmartMDSD Toolchain and SeRoNet Tooling (scheduled end of January) is going to include a technology demonstration of Mixed-Port-Components for ROS1. Until then, you can get a glimpse of what is going to come and how it is going to look&feel like in the following tutorial: https://wiki.servicerobotik-ulm.de/tutorials:ros:mixed-port-component-ros
Caution: This is a technology preview. It is going to change and to improve a lot, especially in its usability.
Acknowledgement: The SeRoNet Mixed-Port-Component for ROS is part of the SeRoNet Tooling which is based on the SmartMDSD Toolchain. The SeRoNet Tooling is developed by the German national BMWi/PAiCE SeRoNet Project consortium: http://www.seronet-projekt.de. The ROS Mixed-Port Component is developed in a joint effort by Service Robotics Research Center of Ulm University of Applied Sciences and Fraunhofer-Institut für Produktionstechnik und Automatisierung. The general concept behind a mixed-port component is an effort of the EU H2020 Project RobMoSys.