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The regularity of your controller is mainly due to the fact that your kernel scheduling strategy is different so in that sense using realtime_tools will not help you.

But otherwise, I have been using the real-time publishers in my non-PR2 related controller without any trouble in the sense that this piece of code is quite simple and just rely on threading to make publishing non-blocking. So I have this code running in both an alternative Linux RT OS (compared to the one used by PR2) and in simulation on my desktop computer with the usual kernel Ubuntu provides.

So if your goal is to have better performances by having a non-blocking publisher then yes it will help but as far as "regularity" goes depending on your code it may or may not help.

Note: realtime_tools package really have nothing to do with PR2 in fact, it could be as well merged into roscpp without any problem so you won't have to touch the pr2_controller_manager to use this package.