Robotics systems today have such high computational requirements that it is necessary to distribute the workload across many processes and processors. Because of this distribution, a means for transferring data between these processes is required. Many low level protocols exist today for handling this communication task, each with its own advantages and disadvantages. This project strives to develop a higher level communication protocol built on top of these lower level protocols, geared specifically toward meeting the system requirements of real-time robotic systems. RTC has been rigorously tested in several real-world robotic applications including the Automated Loading System, the Underground Mining Project, and Demeter.