The complexity of today's robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and correctness of the created application models. Although the use of frameworks is widespread nowadays, for the most popular of them, Robot Operating System (ROS), a contemporary metamodel has been missing so far. This article proposes a new metamodel for ROS called MeROS, which addresses the running system and developer workspace. The ROS comes in two versions: ROS 1 and ROS 2. The metamodel includes both versions. In particular, the latest ROS 1 concepts are considered, such as nodelet, action, and metapackage. An essential addition to the original ROS concepts is the grouping of these concepts, which provides an opportunity to illustrate the system's decomposition and varying degrees of detail in its presentation. The metamodel is derived from the requirements and verified on the practical example of Rico assistive robot. The matter is described in a standardised way in SysML (Systems Modeling Language). Hence, common development tools that support SysML can help conduct projects in the spirit of SE.

翻译：当今机器人控制系统的复杂性意味着难以高效、可靠地开发这些系统。系统工程（SE）及其框架应运而生。框架元模型对于确保所创建应用程序模型的标准性和正确性不可或缺。尽管如今框架的使用已十分普遍，但对于其中最流行的机器人操作系统（ROS），迄今仍缺少一个现代化的元模型。本文提出了一种名为MeROS的新型ROS元模型，该模型涵盖了运行系统与开发者工作空间。ROS包含两个版本：ROS 1与ROS 2，本元模型同时纳入这两个版本。特别地，它考虑了最新的ROS 1概念，例如节点元（nodelet）、动作（action）和元包（metapackage）。对原始ROS概念的一个关键补充是这些概念的分组处理，这提供了展现系统分解及其不同细节呈现程度的机会。该元模型基于需求推导得出，并在Rico辅助机器人的实际案例中得到了验证。相关描述采用SysML（系统建模语言）以标准化方式呈现。因此，支持SysML的通用开发工具有助于项目以系统工程（SE）的精神开展实施。