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) version 1, a complete, contemporary metamodel, has been missing so far. This article proposes a new metamodel for ROS (MeROS), which addresses both the running system and developer workspace. For compatibility with the latest versions of ROS 1, the metamodel includes the latest ROS 1 concepts such as nodelet, action, and metapackage. An essential addition to the original ROS concepts is the grouping concepts, which provide an opportunity to illustrate the decomposition of the system, as well as varying degrees of detail in its presentation. The metamodel is derived from the requirements and then verified on the practical example of the Rico assistive robot. The matter is described in the SysML language, supported by standard development tools to conduct projects in the spirit of SE.

翻译：当今机器人控制系统的复杂性使得高效可靠的开发变得困难。系统工程（SE）与框架为此提供了支持。框架元模型需要支持所创建应用模型的标准化与正确性。尽管框架如今已被广泛使用，但对于最流行的机器人操作系统ROS 1而言，至今仍缺少一个完整且现代的元模型。本文提出了一种针对ROS的新元模型（MeROS），该模型同时涵盖运行系统与开发者工作空间。为兼容ROS 1的最新版本，该元模型包含了最新的ROS 1概念，如nodelet、action和metapackage。对原始ROS概念的一项重要补充是分组概念，它提供了展示系统分解以及不同细节层次呈现的机会。该元模型基于需求推导得出，并通过Rico辅助机器人的实际案例进行了验证。相关事项采用SysML语言描述，并借助标准开发工具以系统工程（SE）理念开展项目。