Systems built on the Robot Operating System (ROS) are increasingly easy to assemble, yet hard to govern and reliably coordinate. Beyond the sheer number of subsystems involved, the difficulty stems from their diversity and interaction depth. In this paper, we use a compact heterogeneous robotic system (HeROS), combining mobile and manipulation capabilities, as a demonstration vehicle under dynamically changing tasks. Notably, all its subsystems are powered by ROS. The use of compatible interfaces and other ROS integration capabilities simplifies the construction of such systems. However, this only addresses part of the complexity: the semantic coherence and structural traceability are even more important for precise coordination and call for deliberate engineering methods. The Model-Based Systems Engineering (MBSE) discipline, which emerged from the experience of complexity management in large-scale engineering domains, offers the methodological foundations needed. Despite their strengths in complementary aspects of robotics systems engineering, the lack of a unified approach to integrate ROS and MBSE hinders the full potential of these tools. Motivated by the anticipated impact of such a synergy in robotics practice, we propose a structured methodology based on MeROS - a SysML metamodel created specifically to put the ROS-based systems into the focus of the MBSE workflow. As its methodological backbone, we adapt the well-known V-model to this context, illustrating how complex robotic systems can be designed with traceability and validation capabilities embedded into their lifecycle using practices familiar to engineering teams.

翻译：基于机器人操作系统（ROS）构建的系统在组装上日益便捷，但在治理与可靠协调方面却愈加困难。除涉及子系统数量庞大外，这种困难还源于其多样性与交互深度。本文以紧凑型异构机器人系统（HeROS）为演示载体，该系统融合了移动与操作能力，并在动态变化任务下运行。值得注意的是，其所有子系统均由ROS驱动。兼容接口及其他ROS集成功能的使用简化了此类系统的构建。然而，这仅解决了部分复杂性：语义一致性与结构可追溯性对于精确协调更为重要，需要采用严谨的工程方法。基于模型的系统工程（MBSE）学科源于大规模工程领域复杂性管理的实践经验，为此提供了必要的方法论基础。尽管ROS与MBSE在机器人系统工程的不同方面各具优势，但缺乏统一的集成方法阻碍了这些工具潜力的充分发挥。鉴于这种协同效应对机器人实践领域的预期影响，我们提出一种基于MeROS的结构化方法——MeROS是专门为将ROS系统纳入MBSE工作流程而创建的SysML元模型。作为该方法论的核心，我们将经典的V模型适配至此场景，阐释如何通过工程团队熟悉的实践，在设计复杂机器人系统时嵌入可追溯性与验证能力至其全生命周期。