If you are a robotics control person, drake is for you. Drake has a dedicated team working on multibody dynamics, planning, and control. Drake has a whole bunch of tools that help ease the development of robot control.
I know ROS well, do I need to try Drake at all?
Drake has a software stack similar to ROS, but it's more professional. It could compute planning based on optimization, it has a controller that handles robot dynamics rather than just PID.
So if you really dig deep into robotics and use advanced planning and control, Drake is probably a better tool.