In this talk, TRACLabs' long history of space-based robotic software development is presented.  Specific efforts in developing ROS-based robotic software application tools are discused, focusing on the CRAFTSMAN application framework and the Affordance Template task devevlopment library.  An overview of TRACLabs' work deploying CRAFTSMAN in space, industrial, and field robotic contexts is provided, along with an overview of recent and ongoing NASA-funded projects that include bridging flight software frameworks (e.g., cFS) with ROS2; integrating CRAFTSMAN with TRACLabs' electronic procedure software (PRIDE) to support the automated carteaking of remote spacecraft; multi-robot task coordination; and leverging CRAFTSMAN to support Automated Fault Detection, Diagnostics and Recovery (AFDD-R) systems.