Hi!
if you already have experience in yocto, stick with it. It is the *only* way to make a product with ros. Especially, because it is much more easy to get a realtime kernel, which you will need at some point, if you aim to place your product in the automation industry (and you don't want it to suck).
I am working with meta-ros (kinetic) and I find it quite useful!
Regards,
Matthias
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