For the ICa-centered research, a real-time CORBA Object Request Broker, ICa ORB, has been built from scratch.

There is not a single line of code from any other in its new release (2.0), so it is a fully new ORB and not just a revamp of the previous ICa one or an external ORB. ICa ORB v 2.0 has been built according to the CORBA, minimum CORBA and real-time CORBA specifications because the ICa Vision considers that open specifications and standards are needed in order to provide full integration among heterogeneous systems.