Pervasive computing environments introduce new challenges for application development, due to the heterogeneity of the devices involved. In practice, pervasive computing applications rely on general-purpose middleware to manage this heterogeneity, but this approach does not provide programming support and verifications specific to the pervasive computing environment. In this paper, we present a domain-specific IDL and its compiler, dedicated to the development of pervasive computing applications. Our IDL is based on that of CORBA and provides declarative support for concisely characterizing a pervasive computing environment. This description is (1) to be used by programmers as a high-level reference to develop applications that coordinate entities of the target environment and (2) to be passed to a compiler that generates a framework dedicated to the target environment. This process enables verifications to be performed prior to runtime on both the declared environment and a given application. Furthermore, customized operations are automatically generated to support the development of pervasive computing activities, such as service discovery and session negotiation for stream-oriented devices. We have implemented a framework generator and have used it to generate frameworks targeting pervasive computing areas such as building surveillance, advanced telecommunications and home automation.