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It is my understanding that to use ROS-I you don't need any realtime guarantees. From what I've heard, typical ROS-I applications don't exceed update rates of 50Hz. You should be able to deliver that with decent latencies with a stock Linux kernel.
Something that is not clear from the question is what realtime means for you. At some parts of the question it seems that "realtime" means an update frequency fast enough to allow online visualization, which is in the order of tens of Hz. You typically start requiring some form of realtime scheduling when you need determinism at update rates of hundreds of Hz (or more).
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