Examples of realtime hardware interfaces

Assuming I have already changed my Linux kernel with a real time patch like RT_PREEMPT, does anyone have example hardware interfaces for ros_control that have working real time loops setup that I can use as an example? I'm fairly new to thinking about realtime constraints but have read this article on coding a realtime example.

On a related note, we should add more robots to the examples section of the ros_control wiki documentation.

Thanks!