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As far as micro controllers go, it's possible to implement a ROS node on both a raspi pico and arduino that allows them to share data with higher level nodes. That said, these specific implementations are a feature of ROS2. Previously, under the the original ROS, microcontrollers were more treated as 2nd class citizens and relied on a rosserial interface node to communicate with the full network.
Yeah pretty much. I'd say it can still be useful if your custom application only needs one or two new modules and can otherwise be formed from existing code. It's great if you make a lot of different systems with similar sub-modules. The bigger research institutions also open source a lot of their code with ROS integrations, so you can just drop in state of the art modules where appropriate. e.g. OrbSlam3,