You need to add the account details of the RaboDirect a/c to your bank of Ireland profile. To do this you need to give them a call on 1890 365 365 and provide the RaboDirect sort code and a/c number.
Once the above has happened, open your 365 a/c online, choose 'Money transfer' and then 'To Other Accounts' from the left navigation. Plug in the ammount to transfer and the rabodirect a/c number and then 'Proceed'.