Robin's namesake appears in the third volume of The Lord of the Rings; The Return of the King. The original Robin, Robin Smallburrow was a good friend of Sam's, and was a Shirriff before, during, and after Sharkey's reign in the Shire. The original Robin liked pubs. He had most likely fought with the Hobbits at the Battle of Bywater.
Frodo did not foresee Robin Gamgee to Sam.