ROS and real time kernel

edit

Hi,

I'm new to ROS, but I really need it for my project. I know there has been a few questions about ROS and real time, and I heard that ROS is NOT real time, and I need to use OROCOS if I need real time.

But, I rather not deal with OROCOS at the moment, and I would like to know if there is anyway to use a real time kernel, like rt-kernel or Xenogami, with ROS. I could not find a good instruction on how to do so..Is there any document or tutorials about it?

Any help would be appreciated

Thanks,

Steve