I’d suggest to wait for ROS 2 and consideration of TSN in DDS. The paper about hard-real time support of ROS 2 middleware DDS via TSN referenced in this thread could be interesting for you. From the papers conclusion:
“For higher layers, we foresee a contending landscape where the integration of TSN
in different middleware solutions focused on interoperability
such as OPC-UA and DDS promise to deliver a bottom-up
real-time communication solution.”