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The rapid growth in the sector can lead to the obsolescence of existing tools and procedures. Although other technologies have emerged in scientific research, they face limited acceptance within the robotics community due to high entry barriers and a lack of evaluative studies, with real use cases, demonstrating their effectiveness. In this effort, we have used RosTooling , a model-driven tool to facilitate the integration of robot systems, as a target and have conducted several evaluative studies, both quantitative and qualitative. The conclusions of these studies allow us to identify the types of systems and lifecycle stages where these tools are most effective. Additionally, we have conducted expert interviews to provide insights into how to foster their acceptance and improve usability. 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