We put up a recent blog, describing a recent ROS-I associated project via the ARM Institute led by Spirit AeroSystems. This was led by @Jorge_Nicho of SwRI, and the team took the opportunity to create an open-source full application. Check it out!
The repo is in the article, but can be found here as well: GitHub - swri-robotics/collaborative-robotic-sanding: Collaborative Robotic Sanding Application