About RTOS selection

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http://www.linuxquestions.org – Hello everybody, I am Murugavel,working as an Embedded Design Engineer in ORBIT CONTROLS and SERVICES.I am new to RTOS so i need to know Which RTOS is easy to learn by self study anyone please suggest any books, I read about RTlinux installation procedure and source code download and patching the kernel i felt difficult in this, anyone please suggest full procedural books or articles. Thanks in advance.. (HowTos)