Part of the RobotBrain project.

Pertaining to [http://www.orocos.org/ Orocos]: Open Realtime Control Services/Open Robot Control Software

Which depends on: [http://gcc.gnu.org/libstdc++/ Std C++] (libstdc++), [http://www.boost.org/ Boost], [http://xml.apache.org/#xerces Xerces 2.1] (XML parsers).

Boost is cool.  Core group were involved in the C++ Standard Template Librar ([http://www.sgi.com/tech/stl/ STL]).
And some of the of the Boost libraries will be in future C++ Standards.
Boost uses/extends the Generic Programming concepts used in STL.

Orocos Has a good related projects list.

Integration between [http://www.aero.polimi.it/~rtai/ RTAI] and [http://www.cs.wustl.edu/~schmidt/TAO.html TAO] and [http://www.cs.wustl.edu/~schmidt/ACE.html ACE] is also part of the ongoing work towards a hard realtime distributed control infastructure based on CORBA.

Control Kernel [http://people.mech.kuleuven.ac.be/~psoetens/orocos-packages/orocos-control-kernel.html design and programming interface].
[http://www.orocos.org/documents/motconframe.pdf Motion Control Framework]: The design of a generic kernel.

Many on the documents can be accessed from the download page http://www.orocos.org/download.php

The site currently having the name Orocos is the Belgan part of the EU funded effort.
The Swedish part in now [http://orca-robotics.sourceforge.net/index.php Orca].  It was called Orocos@KTH.

[http://orca-robotics.sourceforge.net/index.php Orca] uses the [http://playerstage.sourceforge.net/ Player] device server.  Orca also uses TAO and thus CORBA.

Orocos uses the CORBA Component Model ([http://ditec.um.es/~dsevilla/ccm/ CCM]). Other O-O component schemes include Microsoft's DCOM and Java Beans.
Orocos also has a strong real-time aspect.  Orca does not use a component model.  Nor does Orca do real-time.

Player also does not do real-time, since it uses TCP sockets for communications.