ros-control realtime setup

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Hello,

I’m a newbie with ros-control. Can anybody give me a hint on what is the best way to get a control loop with a given update-period for the following Linux systems

• just some normal Linux, for example Ubuntu Server. Is there a function setUpdatePeriod somewhere in ros controller_interface?
• Linux with RT_PREEMPT patched kernel. Does PR2 only use RT_PREEMPT? How to "connect" it with control-managers?
• Linux with only XENOMAI or RTAI;

Or ros-control must run together with OROCOS RTT?

Thank you in advance!