Yes, there is a commercial one, and the licenses are much less expensive
than Citrix ones.
http://www.terminal-services.net/
And check out the DOSRDP XP client.
> Have several MS-DOS machines in the warehouse that are
> running the ICA client. Would love to move these users off
> the expensive ICA connections and use RPD. Is there a MS-
> DOS client for RDP?