Just a comment about the popularity of the approach. I think that the _alternative_ model @carlosjoserg describes in his post is what in general software engineering is called Trunk-Based Development. These days it is quite popular for companies which are trying to practice DevOps, in fact there is a website dedicated to it:
https://trunkbaseddevelopment.com/
It is also referred to in books such as Accelerate as being "correlated with higher delivery performance" (Humble, Forsgren, Kim, 2018). Of course, that should be taken with a pinch of salt given that what works in IT might not necessarily work in robotics (nor do I completely trust their research approach).
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