You can download Orocos from here and browse all available versions here.
Look here for the RTAI LXRT porting guide, and information about RTAI/Posix - Fusion.
The guidelines in this document are applied in the 'RTAI with ACE/TAO port'. A SourceForge Project is used to merge all efforts.
eCos is a Real-Time Operating System which is now supported by eCosCentric. We use part of their toolset to configure Orocos in a modular way. To manage eCos packages, I have written two scripts which do what you'd expect them to do :
The eCos DataBase Generator is a script to generate an ecos.db file from a given package repository : ecosdbgen.py - synopsis.
The eCos Packages Generator is a script to generate .epk packages from a given ecos.db file and repository. It can generate packages on basis of template, target or packages name : ecospkggen.py - synopsis (requires Python 2.3).
Unlike most of my professional collegues, I do somehow not find pleasure in making a webpage about myself. The thought that such a page might actually help someone did occur to me, but then, it vanished quite rapidly in a kind of 'they can google it' excuse. Sorry if you expected something funny/educated.