Kind of. Fundamentally, it has never had much competition due to the narrowness of the scope. It is ubiquitous in university robotics due to its accessibility, but in my experience most (successful) industrial robotics applications will simply provide an interface to ROS: internally they will not use it at all.

One thing with ROS is that reimplementing it is not particularly difficult: I have, for various reasons and projects (in some cases before ROS was available) implemented basically all the core components of it (to similar levels of completeness and reliability). So the cost of doing it yourself is actually not all that high (and I think people overestimate it).