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I am aware of one effort to integrate ROS and OPC UA. This was done by Fraunhofer IPA, but as far as I know this was not open sourced.

I have looked into doing this in the past. There are several open source OPC clients (ex: http://www.openopcua.org/ ). Creating a bridge between ROS utilizing these clients should be relatively straight forward for specific cases.

The more general case of creating a generic ROS bridge to OPC is a little more difficult, but one that I have interest in. Should you decide to go down this road, please let me know.

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