Real-time control architecture based on Xenomai using ROS packages for a service robot.

•A promising real-time architecture integrating robot software packages to Xenomai.•Deterministic response of Xenomai and rapid development using ROS.•Convenient APIs of communication mechanism between real-time/non-real-time tasks.•Flexible and extendible for real-time tasks with non-real-time device drivers.•Implementation details on an embedded platform considering software compatibility.