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The two industrial projects I worked before that called themselves "ROS centric" mostly used timer and messages. They also used some of the ROS infrastructure for building everything with the single command and running together multiple nodes.
Some other parts traditionally provided by ROS (especially the logger and the configuration parser) can be replaced by dedicated open source libraries. ROS implementations are not unique or significantly better.
That much can probably be replicated in some independent project. C++ integration is still vital as some nodes were interfacing various devices via they C based SDKs.
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