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At the Executor Workshop at ROS World 2021, several talks were given about this topic, how to make ROS 2 applications real-time, efficient and deterministic. Presentation-videos, slides and code examples including a real-time Linux kernel image for RapsPi are available (see real-time working group pages).
ROS 2 Executor Workshop (ROSWorld 2021) https://www.apex.ai/roscon-21
Reference system: https://github.com/ros-realtime/reference-system