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In general, ROS code (i.e. C++ clients) runs on the PC. These clients connect to servers on the robot controllers, written in a controller specific language. Generic clients are provided in ROS-I (in industrial_robot_clients). These clients can be used as is to connect to a controller with a server that support the simple message (in simple_message) protocol. However, some robots have special requirements (joint ordering, special handshaking, etc...). As a result specialization of the industrial_robot_client nodes have been written for those platforms (ABB, Fanuc, Motoman). In most cases, these clients inherit from the base clients, with only slight modification.
So in short...you are right.
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