Owing to the steady progress in the field of Linux kernel development, high-performance control applications are no longer a rarity on general-purpose computing platforms. However, many real-time control libraries lack important properties such as modularity, effortless integration, and encapsulation. These are key design features of the popular Robot Operating System (ROS) that is, however, not real-time capable. We aim to solve this issue by introducing the Real-Time Control Framework (RTCF),

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... which offers high modularity, ROS-related concepts leading to seamless interoperability with ROS, and high performance. To demonstrate the capabilities of the RTCF, we provide several examples and exemplary performance data.