Citing ROS in a scientific article

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It depends, at least for me.

If it's an important part of your research (e.g. you prepared a special protocol for experimental validation of results, used some packages from ROS toolkit, etc.), then you should mention it by citing the ICRA 2009 article

or at least by giving a site link like this:

Open Source Robotics Foundation. Robotic Operating System.\url{https://www.ros.org}

If it was used somewhere on your robot, but wasn't important to the overall publication, I would skip it (but it should be in the project documentation beyond those few pages in the journal).