In this FTP project we want to address the use of ROS in the context of real scenario where tractors, implements and third party sensors could synergically work exploiting the benefits of the ISO 11783 also known as Tractors and machinery for agriculture and forestry—Serial control and communications data network. The use of ROS in this context opens new ways for OEMs, research units to develop, deploy, test and validate new features by reusing the ROS community algorithms.