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First thing I always do is just check out the wiki pages, which seem to -- fortunately -- contain quite some information:

• realtime_tools:

  Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior. The tools currently only provides the realtime publisher, which makes it possible to publish messages to a ROS topic from a realtime thread. We plan to add a basic implementation of a realtime buffer, to make it possible to get data from a (non-realtime) topic callback into the realtime loop. Once the lockfree buffer is created, the realtime publisher will start using it, which will result in major API changes for the realtime publisher (removal of all lock methods).

• control_toolbox

  This package contains several C++ classes useful in writing controllers, and so the main documentation can be found on the control_toolbox doxygen page.

All accessible from the meta-package page: ros_control.