diff --git a/config/FindLog4cpp.cmake b/config/FindLog4cpp.cmake
new file mode 100644
index 000000000..04f4bcedb
--- /dev/null
+++ b/config/FindLog4cpp.cmake
@@ -0,0 +1,36 @@
+################################################################################
+#
+# CMake script for finding Log4cpp.
+# The default CMake search process is used to locate files.
+#
+# This script creates the following variables:
+#  LOG4CPP_FOUND: Boolean that indicates if the package was found
+#  LOG4CPP_INCLUDE_DIRS: Paths to the necessary header files
+#  LOG4CPP_LIBRARIES: Package libraries
+#  LOG4CPP_LIBRARY_DIRS: Path to package libraries
+#
+################################################################################
+
+include(FindPackageHandleStandardArgs)
+
+# Find headers and libraries
+find_path(LOG4CPP_INCLUDE_DIR NAMES log4cpp/Category.hh)
+find_library(LOG4CPP_LIBRARY NAMES log4cpp)
+
+# Set LOG4CPP_FOUND honoring the QUIET and REQUIRED arguments
+find_package_handle_standard_args(LOG4CPP DEFAULT_MSG LOG4CPP_LIBRARY LOG4CPP_INCLUDE_DIR)
+
+# Output variables
+if(LOG4CPP_FOUND)
+  # Include dirs
+  set(LOG4CPP_INCLUDE_DIRS ${LOG4CPP_INCLUDE_DIR})
+
+  # Libraries
+  set(LOG4CPP_LIBRARIES ${LOG4CPP_LIBRARY})
+
+  # Link dirs
+  get_filename_component(LOG4CPP_LIBRARY_DIRS ${LOG4CPP_LIBRARY} PATH)
+endif()
+
+# Advanced options for not cluttering the cmake UIs
+mark_as_advanced(LOG4CPP_INCLUDE_DIR LOG4CPP_LIBRARY)
diff --git a/rtt/CMakeLists.txt b/rtt/CMakeLists.txt
index 91fc3190d..02a710b08 100644
--- a/rtt/CMakeLists.txt
+++ b/rtt/CMakeLists.txt
@@ -58,6 +58,7 @@ OPTION(OROBLD_DISABLE_LOGGING "Disable Logging Infrastructure" OFF)
 CMAKE_DEPENDENT_OPTION(OROSEM_PRINTF_LOGGING "Logger uses printf()/fprintf() instead of std::iostream." OFF "NOT OROBLD_DISABLE_LOGGING" OFF)
 CMAKE_DEPENDENT_OPTION(OROSEM_FILE_LOGGING "Logger logs to orocos.log file." ON "NOT OROBLD_DISABLE_LOGGING" OFF)
 CMAKE_DEPENDENT_OPTION(OROSEM_REMOTE_LOGGING "Logger allows remote log retrieval." ON "NOT OROBLD_DISABLE_LOGGING" OFF)
+CMAKE_DEPENDENT_OPTION(OROSEM_LOG4CPP_LOGGING "Logger logs to log4cpp infrastructure (replaces file and printf logging) ." OFF "NOT OROBLD_DISABLE_LOGGING;OROSEM_FILE_LOGGING" OFF)
 
 IF (OROSEM_REMOTE_LOGGING AND NOT OROBLD_DISABLE_LOGGING)
   SET(ORONUM_LOGGING_BUFSIZE 1000 CACHE STRING "Maximum number of lines kept for remote log retrieval.")
@@ -65,6 +66,18 @@ ELSE (OROSEM_REMOTE_LOGGING AND NOT OROBLD_DISABLE_LOGGING)
   SET(ORONUM_LOGGING_BUFSIZE CACHE INTERNAL "")
 ENDIF (OROSEM_REMOTE_LOGGING AND NOT OROBLD_DISABLE_LOGGING)
 
+IF (OROSEM_LOG4CPP_LOGGING)
+  FIND_PACKAGE(Log4cpp REQUIRED)
+
+  INCLUDE_DIRECTORIES(${LOG4CPP_INCLUDE_DIRS})
+  list(APPEND OROCOS-RTT_INCLUDE_DIRS ${LOG4CPP_INCLUDE_DIRS} )
+  # add to list of libraries in pkgconfig file
+  LIST(APPEND OROCOS-RTT_USER_LINK_LIBS ${LOG4CPP_LIBRARIES})
+  # add to list of dependent link libraries
+  LIST(APPEND EXTRA_LIBRARIES ${LOG4CPP_LIBRARIES})
+
+ENDIF (OROSEM_LOG4CPP_LOGGING)
+
 ### Execution Engine
 OPTION(OROPKG_EXECUTION_ADVANCED "Advanced Execution Engine configuration" OFF)
 CMAKE_DEPENDENT_OPTION(OROPKG_EXECUTION_ENGINE_EVENTS "Enable Event Processing." ON "OROPKG_EXECUTION_ADVANCED" ON)
@@ -205,7 +218,7 @@ ENDIF ( BUILD_STATIC )
   ENDIF ()
 
 
-  target_link_libraries(orocos-rtt-${OROCOS_TARGET}_dynamic ${OROCOS-RTT_LIBRARIES})
+  target_link_libraries(orocos-rtt-${OROCOS_TARGET}_dynamic ${OROCOS-RTT_LIBRARIES} ${EXTRA_LIBRARIES})
   IF (BUILD_ENABLE_COVERAGE)
 	target_link_libraries(orocos-rtt-${OROCOS_TARGET}_dynamic gcov)
   ENDIF (BUILD_ENABLE_COVERAGE)
diff --git a/rtt/Logger.cpp b/rtt/Logger.cpp
index 8af882d91..8b867deb8 100644
--- a/rtt/Logger.cpp
+++ b/rtt/Logger.cpp
@@ -52,6 +52,9 @@
 #  include <ostream>
 #  ifdef OROSEM_FILE_LOGGING
 #   include <fstream>
+#   ifdef  OROSEM_LOG4CPP_LOGGING
+#    include <log4cpp/Category.hh>
+#   endif
 #  endif
 #  ifdef OROSEM_REMOTE_LOGGING
 #   include <sstream>
@@ -86,6 +89,31 @@ namespace RTT
 
 #ifndef OROBLD_DISABLE_LOGGING
 
+#ifdef  OROSEM_LOG4CPP_LOGGING
+
+    const std::string Logger::log4cppCategoryName = "org.orocos.rtt";
+
+    log4cpp::Priority::Value level2Priority(const int logLevel)
+    {
+        log4cpp::Priority::Value value = log4cpp::Priority::NOTSET;
+        switch (logLevel)
+        {
+            case Never:     value = log4cpp::Priority::NOTSET; break;
+            case Fatal:     value = log4cpp::Priority::FATAL;  break;
+            case Critical:  value = log4cpp::Priority::CRIT;   break;
+            case Error:     value = log4cpp::Priority::ERROR;  break;
+            case Warning:   value = log4cpp::Priority::WARN;   break;
+            case Info:      value = log4cpp::Priority::INFO;   break;
+            case Debug:     value = log4cpp::Priority::DEBUG;  break;
+                // best we can do!?
+            case RealTime:  value = log4cpp::Priority::DEBUG;  break;
+            default:        value = log4cpp::Priority::NOTSET; break;
+        }
+        return value;
+    }
+
+#endif
+
     Logger& Logger::log() {
         return *Instance();
     }
@@ -107,8 +135,12 @@ namespace RTT
 #ifdef OROSEM_REMOTE_LOGGING
               messagecnt(0),
 #endif
-#if defined(OROSEM_FILE_LOGGING) && !defined(OROSEM_PRINTF_LOGGING)
+#if     defined(OROSEM_FILE_LOGGING)
+#if     defined(OROSEM_LOG4CPP_LOGGING)
+              category(log4cpp::Category::getInstance(RTT::Logger::log4cppCategoryName)),
+#elif   !defined(OROSEM_PRINTF_LOGGING)
               logfile(logfile_name ? logfile_name : "orocos.log"),
+#endif
 #endif
               inloglevel(Info),
               outloglevel(Warning),
@@ -117,7 +149,7 @@ namespace RTT
               mlogStdOut(true), mlogFile(true),
               moduleptr("Logger")
         {
-#if defined(OROSEM_FILE_LOGGING) && defined(OROSEM_PRINTF_LOGGING)
+#if defined(OROSEM_FILE_LOGGING) && !defined(OROSEM_LOG4CPP_LOGGING) && defined(OROSEM_PRINTF_LOGGING)
             logfile = fopen(logfile_name ? logfile_name : "orocos.log","w");
 #endif
         }
@@ -163,7 +195,9 @@ namespace RTT
 
             if ( maylogFile() ) {
 #ifdef OROSEM_FILE_LOGGING
-#ifndef OROSEM_PRINTF_LOGGING
+#if     defined(OROSEM_LOG4CPP_LOGGING)
+                category.log(level2Priority(inloglevel), fileline.str());
+#elif   !defined(OROSEM_PRINTF_LOGGING)
                 logfile << res << fileline.str() << pf;
 #else
                 fprintf( logfile, "%s%s\n", res.c_str(), fileline.str().c_str() );
@@ -197,6 +231,9 @@ namespace RTT
         unsigned int messagecnt;
 #endif
 #if defined(OROSEM_FILE_LOGGING)
+#if     defined(OROSEM_LOG4CPP_LOGGING)
+        log4cpp::Category&   category;
+#endif
 # ifndef OROSEM_PRINTF_LOGGING
         std::ofstream logfile;
 # else
@@ -575,6 +612,9 @@ namespace RTT
 
     void Logger::setLogLevel( LogLevel ll ) {
         d->outloglevel = ll;
+#if defined(OROSEM_LOG4CPP_LOGGING)
+        d->category.setPriority(level2Priority(ll));
+#endif
     }
 
     Logger::LogLevel Logger::getLogLevel() const {
diff --git a/rtt/Logger.hpp b/rtt/Logger.hpp
index 833d916cd..8d0ceb2e6 100644
--- a/rtt/Logger.hpp
+++ b/rtt/Logger.hpp
@@ -311,6 +311,13 @@ namespace RTT
          */
         void lognl();
 
+#ifdef  OROSEM_LOG4CPP_LOGGING
+        /**
+         * Name of the log4cpp category that RTT logs to
+         */
+        static const std::string log4cppCategoryName;
+#endif
+
     private:
         /**
          * Returns true if the next message will be logged.
diff --git a/rtt/os/targets/target-config.h.in b/rtt/os/targets/target-config.h.in
index 67dc4b569..f6b32e20f 100644
--- a/rtt/os/targets/target-config.h.in
+++ b/rtt/os/targets/target-config.h.in
@@ -63,6 +63,7 @@
 #cmakedefine OROSEM_PRINTF_LOGGING
 #cmakedefine OROSEM_FILE_LOGGING
 #cmakedefine OROSEM_REMOTE_LOGGING
+#cmakedefine OROSEM_LOG4CPP_LOGGING
 #define ORONUM_LOGGING_BUFSIZE @ORONUM_LOGGING_BUFSIZE@
 
 #define OROPKG_OS