Hi,
during the last years some teams of the RoboCup Humanoid League started to use ROS. There are multiple code bases available and also some papers were released on this topic.
I am involved in this league and can maybe provide information or connection to developers which are using ROS currently on humanoid robots.
My master's thesis which I just finished presents how ROS is currently used in this league. If you are interested, you can find it here:
https://tams.informatik.uni-hamburg.de/publications/2017/MSc_Marc_Bestmann.pdf
I am generally interested in this topic and I would like to provide help if I can.
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