What are the differences between Xenomai and RTAI?
There is actually a long list of differences, though both projects share a few ideas and support the RTDM layer. The major differences derive from the goals the projects aim for, and from their respective implementation. While RTAI is focused on lowest technically feasible latencies, Xenomai also considers clean extensibility (RTOS skins), portability, and maintainability as very important goals. Xenomai’s path towards PREEMPT_RT support is another major difference compared to RTAI’s objectives. One Xenomai developer once expressed his point of view on this comparison in the following posting: Xenomai vs. RTAI. You may also want to have a look at the Xenomai Project History to learn more about the past relationships between RTAI and Xenomai.
