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The PR2 kernel uses a linux-rt kernel, version 2.6.31-10-rt. We have patched it to resolve a iptables problem. We have noticed occasional kernel panics when running on the PR2, but this is the best RT kernel we have found.

You can download the kernel, with headers, from the PR2 repo: http://packages.ros.org/pr2/ubuntu/

A related package in the same repo, "pr2-grant", has a set capability program to allow non-root users to run realtime programs.

pr2-grant ./my_realtime_prog arg1 arg2 ...

Outside the PR2, these packages are completely unsupported, but you may find them useful.