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EPICS: Opensource publish-subscribe 4 PLC, data-acq, and motion control

I wanted to know if anyone in the ROS community has interacted with EPICS. EPICS appears to me to be remarkably similar to ROS with a different scope. However, they include open source drivers for a wide range of hardware including programmable logic controllers, motion controls, and data acquisition. Their code originally ran only on VXworks, but now runs on Windows, linux etc. http://www.aps.anl.gov/epics This could be an excellent resource for ROS-Industrial. One could imagine creating a bridge, or simply converting their code to ros nodes.