The code base of the Orocos project is open and distributed over multiple repositories.
The libraries developed to complement the Orocos project are also distributed openly and can be found through the following links.
KDL: an application independent framework for modeling and computation of kinematic chains.
BFL: an application independent framework for inference in Dynamic Bayesian Networks, i.e., recursive information processing and estimation algorithms based on Bayes’ rule.
The next additional bundles integrates Orocos concepts into the ROS ecosystem.