Xenomai is a real-time development framework cooperating with the Linux kernel, to provide a pervasive, interface-agnostic, hard real-time support to user space applications, seamlessly integrated into the Linux environment. Xenomai is based on an abstract RTOS core, usable for building any kind of real-time interface, over a nucleus which exports a set of generic RTOS services. Any number of RTOS personalities called “skins” can then be built over the nucleus, providing their own specific interface to the applications, by using the services of a single generic core to implement it.