for java  client i.e.

idlj -fclient My.idl to generate the stub code

and use your C++ compiler to generate skeleton from the same idl file (look into its documentation)

compile the java code + stub and link it
compile the C++ code and skeleton and link it

run the orb and your client  should be able to connect to the server

I leave th erest for yourself to dig out as if server  objects are accessed through URI or nameservice, how to bind them, etc. If you need more information of exact step by step, search the Net for more detailed information + the documentation of your orbs.