The first of his seven collections was published in 1971 and the most recent - Odysseus in Woolloomooloo - in 2014.
"I was on holiday in Sydney and every day I walked from Darlinghurst to the Central Quay and every day I stopped and talked to this old Greek guy," Orr says, explaining the title.
"It made me wonder if perhaps Odysseus hadn't died but instead migrated to Australia and here he was, fishing off the wharf."
After leaving school, Orr spent a year at Auckland University before dropping out and going to work on the Waitemata Harbour and Hauraki Gulf.
It was in Auckland that Orr started going to live poetry readings and hearing people like James K Baxter and Hone Tuwhare. What role does poetry have in modern life? "I'm always amazed by the number of people who ask me to write a poem for a special occasion, whether that's a 21st, a wedding or a funeral.
Clearly, poetry still touches people's hearts so it's a tragedy that it's not taught as something to be enjoyed but an elaborate puzzle to be solved."
the fine print
What: Bob Orr and writer Phil Jarratt talk about the ocean in their writing
Where: Baycourt
When: Monday, October 23, 10am
Tickets: Baycourt box office or Ticketek. TECT cardholder discounts available until October 6 (Baycourt only). See the full programme at taurangafestival.co.nz