This page describes a working example of using omniORBpy to interact with an Orocos component. The example is very simple, and is intended for people who do not know where to start developing a CORBA client.
Your first stop is: http://omniorb.sourceforge.net/omnipy3/omniORBpy/ The omniORBpy version 3 User’s Guide. Read chapters 1 and 2. Optionally read chapter 6. The example works with and without naming services.
Once you are comfortable with omniORBpy, do the following (I assume you are kind enough to be a Linux user working on a console):
wget http://www.orocos.org/stable/examples/rtt/rtt-examples-1.10.0.tar.gz tar xf rtt-examples-1.10.0.tar.gz cd rtt-examples-1.10.0/corba-example/ make smallnet
svn co http://svn.mech.kuleuven.be/repos/orocos/trunk/rtt/src/corba/ mkdir omniclt cp corba/*idl omnictl/ cd omniclt
omniidl -bpython *idl
cp ~/orocosclient.py .
If you get something like
0.011 [ Warning][SmallNetwork] ControlTask 'ComponentA' could not find CORBA Naming Service. 0.011 [ Warning][SmallNetwork] Writing IOR to 'std::cerr' and file 'ComponentA.ior' IOR:0...10100
sudo ../smallnet -ORBInitRef NameService=corbaname::127.0.0.1
If you are not able to make your naming service work, try using the component's IOR. After running you smallnet server, copy the complete IOR printed on screen and paste it as argument to the python program (including the word "IOR:")
python orocosclient.py IOR:0...10100
Look at the IDLs and the code to understand how things work. I am no python expert, so if the coding style looks weird to you, my apologies. Good luck!