Hi Mohamed,
Unfortunately, Hercules devices are not supported in TI-RTOS and there are no plans to add support in the near future. However, there are several third-party RTOS solutions available which offer support for RM4 devices. Please see the link below:
http://www.ti.com/lsds/ti/microcontroller/safety_mcu/rm4_arm_cortex-r4/tools_software.page#software
Hope this helps,
-- Emmanuel