Xenomai

Xenomai is a robust, real-time development framework that works in collaboration with the Linux kernel. Its primary aim is to offer extensive, hard real-time support to applications that operate in userspace, in addition to being interface-agnostic and integrated seamlessly with Linux. The software is constructed on an abstract RTOS core that can be used to construct any sort of real-time interface. A core nucleus that exports a set of general RTOS services lies above the abstract RTOS core.

Moreover, the core nucleus serves as a foundation upon which an unlimited amount of RTOS personalities, or "skins," can be developed. This enables these personalities to implement their interface to applications comprehensively. These skins leverage the services provided by the generic core to ensure standardization throughout the software's entire architecture. Xenomai's framework is powerful, intuitive, and can accommodate a vast array of real-time applications with ease.