TAOのSSLIOP、HTIOP、SHMIOP対応のための修正

CMakeLists.txt

@@ -18,6 +18,8 @@ if(CCACHE_PROGRAM)
    set(CMAKE_CXX_COMPILER_LAUNCHER "${CCACHE_PROGRAM}")
 endif()
 
+set(SSL_ENABLE FALSE CACHE BOOL "set SSL_ENABLE")
+
 if(NOT ORB_ROOT)
 	if(CORBA STREQUAL "omniORB")
 		if(UNIX)
@@ -46,6 +48,9 @@ if(NOT ORB_ROOT)
 			set(ACE_TAO_INCLUDE_DIRS ${TAO_Svc_Utils_INCLUDE_DIRS} ${TAO_CosNaming_INCLUDE_DIRS} ${TAO_IORTable_INCLUDE_DIRS} ${TAO_Utils_INCLUDE_DIRS} ${TAO_Strategies_INCLUDE_DIRS})
 			set(ACE_TAO_CFLAGS ${TAO_Svc_Utils_CFLAGS} ${TAO_CosNaming_CFLAGS} ${TAO_IORTable_CFLAGS} ${TAO_Utils_CFLAGS} ${TAO_Strategies_CFLAGS})
 			set(ACE_TAO_DIR ${TAO_Svc_Utils_PREFIX})
+			if(SSL_ENABLE)
+				set(ACE_TAO_LIBRARIES ${ACE_TAO_LIBRARIES} TAO_Security)
+			endif()
 		else(UNIX)
 			message(FATAL_ERROR "Please set ORB_ROOT.")
 		endif(UNIX)		
@@ -132,7 +137,6 @@ else()
 	set(INSTALL_RTM_SHARE_DIR share)
 endif(MSVC)
 
-set(SSL_ENABLE FALSE CACHE BOOL "set SSL_ENABLE")
 set(HTTP_ENABLE FALSE CACHE BOOL "set HTTP_ENABLE")
 set(OBSERVER_ENABLE FALSE CACHE BOOL "set OBSERVER_ENABLE")
 
@@ -393,6 +397,9 @@ elseif(CORBA STREQUAL "omniORB")
 	endif(VXWORKS)
 elseif(CORBA STREQUAL "TAO")
 	set(CORBA_NAME "TAO" CACHE STRING "CORBA name.")
+	if(SSL_ENABLE)
+		set(ORB_C_FLAGS_LIST ${ORB_C_FLAGS_LIST} -DSSL_ENABLE)
+	endif()
 
 	if(VXWORKS)
 		if("${VX_CPU_FAMILY}" STREQUAL "ppc")
@@ -403,7 +410,7 @@ elseif(CORBA STREQUAL "TAO")
 		set(ORB_C_FLAGS_LIST ${ORB_C_FLAGS_LIST} -DACE_VXWORKS=0x690 -DACE_HAS_PTHREADS -DACE_HAS_AIO_CALLS -DACE_LACKS_ISBLANK)
 
 		set(ORB_LINK_DIR ${ORB_ROOT}/lib)
-		set(ORB_LIBRARIES TAO_AnyTypeCode TAO_PortableServer TAO_Svc_Utils TAO_CosNaming TAO_DynamicInterface TAO_PI TAO_Utils TAO_PortableServer TAO_DiffServPolicy TAO_DynamicInterface TAO_Strategies TAO ACE)
+		set(ORB_LIBRARIES TAO_AnyTypeCode TAO_PortableServer TAO_Svc_Utils TAO_CosNaming TAO_DynamicInterface TAO_PI TAO_Utils TAO_PortableServer TAO_DiffServPolicy TAO_Strategies TAO ACE)
 		set(ORB_INCLUDE_DIR ${ORB_ROOT} ${ORB_ROOT}/TAO ${ORB_ROOT}/TAO/orbsvcs)
 	elseif(UNIX)
 		if(ORB_ROOT)
@@ -424,7 +431,7 @@ elseif(CORBA STREQUAL "TAO")
 		set(ORB_INCLUDE_DIR ${ORB_ROOT} ${ORB_ROOT}/TAO ${ORB_ROOT}/TAO/orbsvcs)
 		set(ORB_C_FLAGS_LIST ${ORB_C_FLAGS_LIST} -DWIN32_LEAN_AND_MEAN -DWITH_ACE)
 
-		set(ORB_LIBRARIES_INSTALL ${ORB_LIBRARIES1};TAO_IDL_FE;TAO_IDL_FEd;TAO_IDL_BE;TAO_IDL_BEd;)
+		set(ORB_LIBRARIES_INSTALL ${ORB_LIBRARIES1};TAO_IDL_FE;TAO_IDL_FEd;TAO_IDL_BE;TAO_IDL_BEd;TAO_Codeset;TAO_Codesetd;TAO_CosNaming_Skel;TAO_CosNaming_Serv;TAO_CosNaming_Servd;TAO_ImR_Client;TAO_ImR_Clientd;TAO_Messaging;TAO_Messagingd;TAO_Valuetype;TAO_Valuetyped;TAO_IORManip;TAO_IORManipd;TAO_CosNaming_Skeld;TAO_HTIOP;TAO_HTIOPd;ACE_HTBP;ACE_HTBPd;)
 		set(ORB_INSTALL_DIR ${OPENRTM_VERSION}/ACE/${RTM_VC_VER}/)
 		foreach(library ${ORB_LIBRARIES_INSTALL})
 			if((NOT (${library} STREQUAL "optimized")) AND (NOT (${library} STREQUAL "debug")))

etc/CMakeLists.txt

@@ -8,5 +8,73 @@ else()
 endif()
 
 if(CORBA STREQUAL "TAO")
-	install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/tao_udp/svc.conf DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_udp COMPONENT ext)
+	install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/tao_diop/svc.diop.conf DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_diop COMPONENT ext)
+
+	configure_file(
+		${CMAKE_CURRENT_SOURCE_DIR}/tao_diop/rtc.diop.conf.in ${PROJECT_BINARY_DIR}/rtc.diop.conf @ONLY)
+	install(
+		FILES ${PROJECT_BINARY_DIR}/rtc.diop.conf
+		DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_diop
+		COMPONENT ext)
+
+
+
+	install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/tao_htiop/HT_Config.conf DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_htiop COMPONENT ext)
+
+	configure_file(
+		${CMAKE_CURRENT_SOURCE_DIR}/tao_htiop/svc.htiop.conf.in ${PROJECT_BINARY_DIR}/svc.htiop.conf @ONLY)
+	install(
+		FILES ${PROJECT_BINARY_DIR}/svc.htiop.conf
+		DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_htiop
+		COMPONENT ext)
+
+	configure_file(
+		${CMAKE_CURRENT_SOURCE_DIR}/tao_htiop/rtc.htiop.conf.in ${PROJECT_BINARY_DIR}/rtc.htiop.conf @ONLY)
+	install(
+		FILES ${PROJECT_BINARY_DIR}/rtc.htiop.conf
+		DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_htiop
+		COMPONENT ext)
+
+
+
+	configure_file(
+		${CMAKE_CURRENT_SOURCE_DIR}/tao_ssliop/rtc.ssliop.conf.in ${PROJECT_BINARY_DIR}/rtc.ssliop.conf @ONLY)
+	install(
+		FILES ${PROJECT_BINARY_DIR}/rtc.ssliop.conf
+		DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_ssliop
+		COMPONENT ext)
+
+	configure_file(
+		${CMAKE_CURRENT_SOURCE_DIR}/tao_ssliop/svc.ssliop.conf.in ${PROJECT_BINARY_DIR}/svc.ssliop.conf @ONLY)
+	install(
+		FILES ${PROJECT_BINARY_DIR}/svc.ssliop.conf
+		DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_ssliop
+		COMPONENT ext)
+
+
+	install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/tao_shmiop/svc.shmiop.conf DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_shmiop COMPONENT ext)
+
+	configure_file(
+		${CMAKE_CURRENT_SOURCE_DIR}/tao_shmiop/rtc.shmiop.conf.in ${PROJECT_BINARY_DIR}/rtc.shmiop.conf @ONLY)
+	install(
+		FILES ${PROJECT_BINARY_DIR}/rtc.shmiop.conf
+		DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_shmiop
+		COMPONENT ext)
+
+
+	configure_file(
+		${CMAKE_CURRENT_SOURCE_DIR}/svc.names.htiop.conf.in ${PROJECT_BINARY_DIR}/svc.names.htiop.conf @ONLY)
+	install(
+		FILES ${PROJECT_BINARY_DIR}/svc.names.htiop.conf
+		DESTINATION ${INSTALL_RTM_ETC_DIR}
+		COMPONENT ext)
+
+	configure_file(
+		${CMAKE_CURRENT_SOURCE_DIR}/svc.names.ssliop.conf.in ${PROJECT_BINARY_DIR}/svc.names.ssliop.conf @ONLY)
+	install(
+		FILES ${PROJECT_BINARY_DIR}/svc.names.ssliop.conf
+		DESTINATION ${INSTALL_RTM_ETC_DIR}
+		COMPONENT ext)
+
+
 endif()

etc/HT_Config.conf

@@ -0,0 +1,10 @@
+
+[htbp]
+# The Proxy_port and proxy_host values control how the HTIOP "inside" peers
+# to connect to "outside" peers. In situations where the process inside a
+# protected enclave is required to vector all HTTP traffic through some
+# third-party proxy, such as Squid, then put the host and port for that
+# proxy here.
+
+#proxy_port=3128
+#proxy_host=rtai.ociweb.com

etc/svc.names.htiop.conf.in

@@ -0,0 +1,6 @@
+
+dynamic HTIOP_Factory Service_Object *
+        TAO_HTIOP:_make_TAO_HTIOP_Protocol_Factory ()
+        "-config @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/HT_Config.conf"
+
+static Resource_Factory "-ORBProtocolFactory HTIOP_Factory"

etc/svc.names.ssliop.conf.in

@@ -0,0 +1,4 @@
+dynamic SSLIOP_Factory Service_Object *
+        TAO_SSLIOP:_make_TAO_SSLIOP_Protocol_Factory()
+        "-SSLAuthenticate SERVER_AND_CLIENT -SSLPrivateKey PEM:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/ssl/server.pem -SSLCertificate PEM:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/ssl/root.crt -SSLPassword passward -SSLCAfile PEM:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/ssl/root.crt"
+static Resource_Factory "-ORBProtocolFactory SSLIOP_Factory"

etc/tao_diop/rtc.diop.conf.in

@@ -0,0 +1,5 @@
+logger.enable: YES
+logger.log_level: DEBUG
+#logger.file_name: stdout
+
+corba.args: -ORBEndpoint iiop://: -ORBEndpoint diop://: -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/tao_diop/svc.diop.conf

etc/tao_htiop/HT_Config.conf

@@ -0,0 +1,10 @@
+
+[htbp]
+# The Proxy_port and proxy_host values control how the HTIOP "inside" peers
+# to connect to "outside" peers. In situations where the process inside a
+# protected enclave is required to vector all HTTP traffic through some
+# third-party proxy, such as Squid, then put the host and port for that
+# proxy here.
+
+#proxy_port=3128
+#proxy_host=rtai.ociweb.com

etc/tao_htiop/rtc.htiop.conf.in

@@ -0,0 +1,8 @@
+logger.enable: YES
+logger.log_level: DEBUG
+#logger.file_name: stdout
+
+corba.args: -ORBEndpoint htiop:// -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/tao_htiop/svc.htiop.conf
+
+corba.nameservers: corbaloc:htiop:127.0.0.1:2809
+corba.master_manager: htiop://127.0.0.1:2810

etc/tao_htiop/svc.htiop.conf.in

@@ -0,0 +1,6 @@
+
+dynamic HTIOP_Factory Service_Object *
+        TAO_HTIOP:_make_TAO_HTIOP_Protocol_Factory ()
+        "-config @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/tao_htiop/HT_Config.conf"
+
+static Advanced_Resource_Factory "-ORBProtocolFactory HTIOP_Factory"

etc/tao_shmiop/rtc.shmiop.conf.in

@@ -0,0 +1,9 @@
+logger.enable: YES
+logger.log_level: DEBUG
+#logger.file_name: stdout
+
+corba.args: -ORBEndpoint shmiop:// -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/tao_shmiop/svc.shmiop.conf
+
+
+#corba.nameservers: corbaloc:shmiop:1.0@:2809
+#corba.master_manager: shmiop://1.0@hostname:2810

etc/tao_shmiop/svc.shmiop.conf

@@ -0,0 +1 @@
+static Advanced_Resource_Factory "-ORBProtocolFactory SHMIOP_Factory -ORBProtocolFactory IIOP_Factory -ORBReactorType select_st"

etc/tao_ssliop/rtc.ssliop.conf.in

@@ -0,0 +1,8 @@
+logger.enable: YES
+logger.log_level: DEBUG
+#logger.file_name: stdout
+
+corba.args: -ORBEndpoint ssliop://: -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/tao_ssliop/svc.ssliop.conf
+
+corba.nameservers: corbaloc:ssliop:127.0.0.1:2809
+corba.master_manager: ssliop://127.0.0.1:2810

etc/tao_ssliop/svc.ssliop.conf.in

@@ -0,0 +1,4 @@
+dynamic SSLIOP_Factory Service_Object *
+        TAO_SSLIOP:_make_TAO_SSLIOP_Protocol_Factory()
+        "-SSLAuthenticate SERVER_AND_CLIENT -SSLPrivateKey PEM:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/ssl/server.pem -SSLCertificate PEM:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/ssl/root.crt -SSLPassword passward -SSLCAfile PEM:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/ssl/root.crt"
+static Advanced_Resource_Factory "-ORBProtocolFactory SSLIOP_Factory"

src/ext/ssl/CMakeLists.txt

@@ -5,6 +5,14 @@ project (SSLTransport
 	LANGUAGES CXX)
 
 
+set(SSL_FILES ${CMAKE_CURRENT_SOURCE_DIR}/root.crt ${CMAKE_CURRENT_SOURCE_DIR}/server.pem)
+install(FILES ${SSL_FILES} DESTINATION ${INSTALL_RTM_ETC_DIR}/ssl COMPONENT ext)
+
+if(NOT CORBA STREQUAL "omniORB")
+  return()
+endif()
+
+
 set(OPENSSL_ROOT ${OPENSSL_ROOT} CACHE PATH "set OPENSSL_ROOT")
 
 if(OPENSSL_ROOT)
@@ -55,9 +63,6 @@ if(WIN32)
 else(WIN32)
 endif(WIN32)
 
-set(SSL_FILES ${CMAKE_CURRENT_SOURCE_DIR}/root.crt ${CMAKE_CURRENT_SOURCE_DIR}/server.pem)
-install(FILES ${SSL_FILES} DESTINATION ${INSTALL_RTM_ETC_DIR}/ssl COMPONENT ext)
-
 
 set(INSTALL_SSLTRANSPORT_DIR ${INSTALL_RTM_EXT_DIR}/ssl)
 configure_file(

src/lib/rtm/Manager.cpp

@@ -52,6 +52,10 @@
 #endif
 #endif
 
+#if defined(ORB_IS_TAO) && defined(SSL_ENABLE)
+#include <orbsvcs/SecurityLevel2C.h>
+#endif
+
 #include <fstream>
 #include <iostream>
 #include <utility>
@@ -1539,6 +1543,31 @@ std::vector<coil::Properties> Manager::getLoadableModules()
         CORBA::Object_var obj =
           m_pORB->resolve_initial_references((char*)"RootPOA");
         m_pPOA = PortableServer::POA::_narrow(obj);
+#if defined(ORB_IS_TAO) && defined(SSL_ENABLE)
+        for(size_t i=0;i < args.size();i++)
+        {
+          if(args[i].find("-ORB") != std::string::npos && args[i].find("Endpoint") != std::string::npos)
+          {
+            if(i < args.size()-1)
+            {
+              if(args[i+1].find("ssliop://") != std::string::npos)
+              {
+                CORBA::Object_var sec_man =
+                  m_pORB->resolve_initial_references ("SecurityLevel2:SecurityManager");
+                SecurityLevel2::SecurityManager_var sec2manager =
+                  SecurityLevel2::SecurityManager::_narrow (sec_man.in ());
+                SecurityLevel2::AccessDecision_var ad_tmp = sec2manager->access_decision ();
+                TAO::SL2::AccessDecision_var ad =
+                  TAO::SL2::AccessDecision::_narrow (ad_tmp.in ());
+                ad->default_collocated_decision (true);
+                break;
+              }
+            }
+          }
+        }
+
+#endif
+
 #endif
         if (CORBA::is_nil(m_pPOA))
           {

utils/cmake/OpenRTMConfig_TAO_Linux.cmake.in

@@ -64,28 +64,41 @@ set(OPENRTM_SHORT_VERSION @RTM_SHORT_VERSION@)
 set(OPENRTM_ORB TAO)
 set(OPENRTM_IDL_WRAPPER rtm2-skelwrapper)
 set(OPENRTM_IDL_WRAPPER_FLAGS --include-dir= --skel-suffix=Skel --stub-suffix=Stub)
-set(OPENRTM_IDLC @IDL_COMPILE_COMMAND@)
+set(OPENRTM_IDLC tao_idl)
 
 
 
-# TAO version
-set(TAO_DIR @ORB_ROOT@)
-if(test${TAO_DIR} STREQUAL "test")
-	set(OPENRTM_IDLFLAGS -as -DTAO_IDL -I/usr/include -I/usr/local/include  -I${OPENRTM_INCLUDE_DIR}/rtm/idl)
-else()
-	set(OPENRTM_IDLFLAGS -as -DTAO_IDL -I${TAO_DIR}/include -I${OPENRTM_INCLUDE_DIR}/rtm/idl)
+if(NOT PKG_CONFIG_FOUND)
+  include(CMakeFindDependencyMacro)
+  find_dependency(PkgConfig)
 endif()
-set(TAO_CFLAGS @ORB_C_FLAGS_LIST@;)
-set(TAO_INCLUDE_DIRS @ORB_INCLUDE_DIR@)
+#
+# Getting TAO settings
+#
+pkg_check_modules(TAO_Svc_Utils REQUIRED TAO_Svc_Utils)
+pkg_check_modules(TAO_CosNaming REQUIRED TAO_CosNaming)
+pkg_check_modules(TAO_IORTable REQUIRED TAO_IORTable)
+pkg_check_modules(TAO_Utils REQUIRED TAO_Utils)
+pkg_check_modules(TAO_Strategies REQUIRED TAO_Strategies)
+set(ACE_TAO_LIBRARIES ${TAO_Svc_Utils_LIBRARIES} ${TAO_CosNaming_LIBRARIES} ${TAO_IORTable_LIBRARIES} ${TAO_Utils_LIBRARIES} ${TAO_Strategies_LIBRARIES})
+set(ACE_TAO_LIBRARY_DIRS ${TAO_Svc_Utils_LIBRARY_DIRS} ${TAO_CosNaming_LIBRARY_DIRS} ${TAO_IORTable_LIBRARY_DIRS} ${TAO_Utils_LIBRARY_DIRS} ${TAO_Strategies_LIBRARY_DIRS})
+set(ACE_TAO_INCLUDE_DIRS ${TAO_Svc_Utils_INCLUDE_DIRS} ${TAO_CosNaming_INCLUDE_DIRS} ${TAO_IORTable_INCLUDE_DIRS} ${TAO_Utils_INCLUDE_DIRS} ${TAO_Strategies_INCLUDE_DIRS})
+set(ACE_TAO_CFLAGS ${TAO_Svc_Utils_CFLAGS} ${TAO_CosNaming_CFLAGS} ${TAO_IORTable_CFLAGS} ${TAO_Utils_CFLAGS} ${TAO_Strategies_CFLAGS})
+set(ACE_TAO_DIR ${TAO_Svc_Utils_PREFIX})
+
+
+set(TAO_CFLAGS ${ACE_TAO_CFLAGS};)
+set(TAO_INCLUDE_DIRS ${ACE_TAO_INCLUDE_DIRS})
 set(TAO_LDFLAGS )
-set(TAO_LIBRARY_DIRS @ORB_LINK_DIR@)
-set(TAO_LIBRARIES @ORB_LIBRARIES@)
+set(TAO_LIBRARY_DIRS ${ACE_TAO_LIBRARY_DIRS})
+set(TAO_LIBRARIES ${ACE_TAO_LIBRARIES})
 
 set(OPENRTM_CFLAGS ${OPENRTM_CFLAGS} ${TAO_CFLAGS})
 set(OPENRTM_INCLUDE_DIRS ${OPENRTM_INCLUDE_DIRS} ${TAO_INCLUDE_DIRS})
 set(OPENRTM_LDFLAGS ${OPENRTM_LDFLAGS} ${TAO_LDFLAGS})
 set(OPENRTM_LIBRARY_DIRS ${OPENRTM_LIBRARY_DIRS} ${TAO_LIBRARY_DIRS})
-
+set(OPENRTM_LIB_DIR ${OPENRTM_LIB_DIR} ${TAO_LIBRARY_DIRS})
+set(OPENRTM_IDLFLAGS -as -DTAO_IDL -I${ACE_TAO_DIR}/include  -I${OPENRTM_INCLUDE_DIR}/rtm/idl)
 
 
 message(STATUS "OpenRTM-aist configuration done")

utils/openrtmNames/openrtmNames.cpp

@@ -28,6 +28,9 @@
 #endif
 #elif defined(ORB_IS_TAO)
 #include <tao/IORTable/IORTable.h>
+#ifdef SSL_ENABLE
+#include <orbsvcs/SecurityLevel2C.h>
+#endif
 #endif
 #include <rtm/ManagerConfig.h>
 #include <coil/stringutil.h>
@@ -98,6 +101,31 @@ int main(int argc, char **argv)
 #endif
     orb = CORBA::ORB_init(cargvsize, cargv.get());
 
+#ifdef ORB_IS_TAO
+#ifdef SSL_ENABLE
+    for(size_t i=0;i < args.size();i++)
+    {
+      if(args[i].find("-ORB") != std::string::npos && args[i].find("Endpoint") != std::string::npos)
+      {
+        if(i < args.size()-1)
+        {
+          if(args[i+1].find("ssliop://") != std::string::npos)
+          {
+            CORBA::Object_var sec_man =
+              orb->resolve_initial_references ("SecurityLevel2:SecurityManager");
+            SecurityLevel2::SecurityManager_var sec2manager =
+              SecurityLevel2::SecurityManager::_narrow (sec_man.in ());
+            SecurityLevel2::AccessDecision_var ad_tmp = sec2manager->access_decision ();
+            TAO::SL2::AccessDecision_var ad =
+              TAO::SL2::AccessDecision::_narrow (ad_tmp.in ());
+            ad->default_collocated_decision (true);
+            break;
+          }
+        }
+      }
+    }
+#endif
+#endif
 
     CORBA::Object_var root_obj = orb->resolve_initial_references("RootPOA");
     root_poa = PortableServer::POA::_narrow(root_obj);

utils/rtm-config/CMakeLists.txt

@@ -19,7 +19,12 @@ elseif(CORBA STREQUAL "TAO")
 	if(WIN32)
 		set(IDLCOMMAND_FLAGS -as -DTAO_IDL -I${OPENRTM_DIR}/ACE/${RTM_VC_VER}/TAO)
 	else()
-		set(IDLCOMMAND_FLAGS -as -DTAO_IDL -I${ORB_ROOT}/TAO)
+		if(ORB_ROOT)
+			set(IDLCOMMAND_FLAGS -as -DTAO_IDL -I${ORB_ROOT}/TAO)
+		else()
+			set(IDLCOMMAND_FLAGS -as -DTAO_IDL -I${ACE_TAO_DIR}/include)
+		endif()
+
 	endif()
 endif()