CORBA is a standard middleware that enables different process to exchange information via services. In our exercises, 3 processes run in parall

  1. hppcorbaserver or hpp-manipulation-server,

  2. gepetto-gui or gepetto-viewer-server, and

  3. a python terminal.

The two first processes run services that can be triggered remotely by clients implemented in python

Configuring CORBA

To connect servers and clients, CORBA needs to run a name server. To know whether a name server is running, type in a terminal

ps -ef | grep omniNames

If you see no process named "omniNames", you need to start one.

omniNames -start 2809 -logdir /tmp
Warning If you restart omniNames after stopping it, you need either to remove -start 2809 from the above command line or to remove log files related to omniNames in /tmp.