Having patched and built some kernel packages for Debian (for internal use),
I've uploaded them to a server so that others can try them out. Currently a
have set of 184.108.40.206 kernels and supporting Xenomai packages available for
x86_64 and i386 (compiled for 686).
The repository is located at http://zathras.tuxcnc.org/xenomai - Although the
packages are all in Sid, they have been compiled on Etch boxen, so should
work with both Debian's testing/unstable and Ubuntu.
Xenomai-core mailing list