There are upper degree systems in masonry that use the rosicrucian symbology and philosophy in their degrees (like SCRICF or SRIA), as well as there are rosicrucian degrees in more common upper degree systems, like the 18th degree AASR that use the rose and cross in symbology, but have only little to do with rosicrucian philosophy.
The original rosicrucians were not masons, but some masons were also rosicrucians. It is likely that the masonic rosicrucian degrees found their way into masonry by those brethren. The original rosicrucians built a loose society without any fix form or membership. Later they form orders, like the Order of the Gold- and Rosy Cross in the 17th and 18th century. Today there are many orders that claim to be heirs of this old oder, like AMORC, Lectorum Rosicrucianum and several others. Common for those orders is, that they are not masons, and some of them are even plain esoteric psycho-sects with harsh ways to iterfere with the lifes of their members. Most of them are christian-esoteric groups.