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If your question is whether it is possible to install (fi) RT-PREEMPT or Xenomai on a system that is also being used to run ROS, then sure, that is certainly possible. In fact, many people do it (in order to be able to use OROCOS for their real-time control needs for instance). The specific kernel you install should have no influence on your ROS nodes (providing all the hardware you require is still properly supported by your new kernel, of course).
Note though that ROS 1.0 itself (ie: the middleware and probably almost all components) is inherently not hard real-time capable. This holds no matter what OS you run it on.
As to how to install RT-PREEMPT or Xenomai on your Trusty system, there are a multitude of tutorials available on the internet. The fact that you already have ROS installed on your machine should not matter.
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