The PIC32-based Arduino is sold here in Cytron, great news!
I've tried using the microcontroller and it can be programmed using Pickit 2 and Pickit 3.
Put a FreeRTOS inside + MPLAB C32 (unfortunately, you have to erase the bootloader), or write it in the Arduino form!
Take note that the libraries for the ChipKit is quite limited - you may need to improvise on these.