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 develop robot controllers in the spirit of SE.

翻译：当今机器人控制系统的复杂性意味着高效且可靠地开发它们存在困难。系统工程（SE）及各类框架为此提供了助力。框架元模型对于确保所创建应用模型的标准化与正确性不可或缺。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）而言，长期以来一直缺乏一个当代元模型。本文提出了一种名为MeROS的新型ROS元模型，它涵盖了运行系统与开发者工作空间。ROS包含两个版本：ROS 1和ROS 2，该元模型将这两个版本均纳入其中。具体而言，考虑了最新的ROS 1概念，如节点节点（nodelet）、动作（action）和元包（metapackage）。对原始ROS概念的一项重要补充是这些概念的分组，这使得能够展示系统的分解及其在呈现方式上的不同详细程度。该元模型基于需求推导而来，并在Rico辅助机器人的实际示例上进行了验证。相关内容采用SysML（系统建模语言）以标准化方式描述。因此，支持SysML的通用开发工具能够帮助在系统工程精神的指导下开发机器人控制器。