While the last twenty years have seen the development of numerous robot integration frameworks, the last years have seen some kind of a consolidation. The obvious suspect being ROS [11], with trailing behind Orocos/RTT [13], OpenRobots and OpenRTM-aist; there are also older frameworks like MCA [12], which seem to have stopped their development, but provided basic ideas the aforementioned systems. This is list by no means meant to be exhaustive, it just lists { from the point of view of the authors { what component layers are getting adopted in the community to date.