We're trying to use corba in our project in order to increase the robustness of whole system, separating critical from non critical activities in different processes.

We are currently using orocos 1.6 and, after some tries, we haven't success implementing two simple processes sending a heterogeneous struct.

We think that in commercial applications the robustness of the system is a must. Even in an earlier development stage, it's necessary to keep apart (in some kind of security domains) different tasks not direclty related. Separating them in different processes is, a priori, the esiest way to achieve it.
In this sceneario, it would be very convenient a complete example to illustrate an inter-process communication using Corba: the integration of the generated code from .idl, the addition of the type to the Orocos type system, the implementation of the AnyConversion and TransportRegistrator if any, etc.

Thanks in advance,

Carles Lopez