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From ROS-I FAQs:
Q: Is ROS-Industrial suitable for real-time control?
A: Like ROS, ROS-I nominally runs on Ubuntu Linux, which is not a real-time OS. ROS-I is fast enough to run closed-loop with perception systems for industrial applications, but (at least for now) ROS-I must be used as a high-level controller in conjunction with a low-level real-time controller (usually the one from the OEM), which closes servo feedback loops and provides safety behavior (e.g. an E-stop).
This is also valid for ROS. Hard real time control is not possible using only ROS. You will have to implement (or buy) your own low-level real time controller and connect it to your high level ros nodes, e. g. via ROS serial.
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