Possible OROCOS alternative: ROS2
Since OROCOS seems to be getting less and less attention, it might be a good idea to look for alternatives for the case that something major breaks in Orocos that won't get fixed.
ROS 2 is currently in alpha, and according to the roadmap will release in Dec. '17 (which means more like 2. quarter 2018). But it will have RT capabilities and a huge commuity, so it might be worth a look.