OROCOS/YARP transport

I met Peter in recent Euron's meeting. He mentioned that Orocos/YARP
transport has already been perfomed (if I understood correctly). Could you
please inform me on where I could find further information/code on this?
My objective would be having an Orocos component on our robot's main
processor (PXA-270, I've cross-compiled many libraries in the past for it)
communicated with the high-level stuff we have already made in YARP.

Thank you! (maybe more to do with orocos-dev as concerns marshalling,

- juan