Falcon02
General
To my knowledge, the closest anyone has come to thinking of actually sending a Nuclear Reactor on a space probe is still just a Nuclear Battery.
Currently, we have utilized Radioisotopic Thermoelectric Generators, but that is just the decay of radiative material, not a full on nuclear reaction.
Yes, RTG's are really the only "nuclear" power plant we've used in space, to my knowledge. That however doesn't mean that there haven't been designs for full fledge reactors to go into space, attempting to take into account a catastrophic failure during launch.
The SP-100 Reactor is a reactor designed to be used for space applications and the JIMO (Jupiter Icy Moons Orbiter) mission design called for the use of a Nuclear Reactor.
Autonomous Space Nuclear Reactor Control for Jupiter Icy Moons Orbiter
However, most missions that try to use a Nuclear Reactor are either forced to change or get canceled, due to how unpopular Nuclear Power is and fears of what would happen if the Launch Vehicle Catastrophically Failed. That was the fate of JIMO which got canceled, among the reasons was it's Nuclear Power plant.
Jupiter Icy Moons Orbiter - Wikipedia