  Real-Time communication are important in all those distributed applications
where timing constraints on data proccessing and task executation play a
fundamental role. Standards-base software engineering does not yet specify how
real-time properties should be integrated into a publish/subscribe middleware.
This article describes an approach for integration of priority quality of
service in a publish/subscribe middleware. The approach simply leverages the
operating system functionalities to provide a framework where specific
communication channels can be prioritized at run-time. The quality of service
is implemented in YARP (Yet Another Robot Platform) framework and the primarily
results of performance tests are presented.
