OROCOS on RTEMS

Hi to all.
I'm new in OROCOS. I read some document about OROCOS and I visit the OROCOS 
web site.
I'm interested in this project. I'm using the RTEMS OS. I read in the 
"Related Project" section about the using of RTEMS. I would like to know the 
relationship  between this two project and if already exist some 
application. All information about the use of OROCOS and RTEMS are useful 
for me.

Thanks a lot
Luca