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 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意味着难以高效且可靠地进行开发。系统工程与框架方法为此提供支持。框架元模型对于所创建应用模型的标准化和正确性至关重要。尽管框架的使用如今已十分普遍，但对于其中最流行的机器人操作系统（ROS）版本1而言，至今仍缺少一个与之相应的现代元模型。本文提出了一种新的ROS元模型（MeROS），它同时涵盖了运行系统与开发者工作空间。为了兼容ROS 1的最新版本，该元模型包含了诸如nodelet、action和metapackage等最新的ROS 1概念。对原始ROS概念的一项重要补充是分组概念，它提供了描述系统分解及其呈现细节程度不同的能力。该元模型基于需求推导而来，并在Rico辅助机器人的实际案例中进行了验证。相关内容采用SysML语言描述，并辅以标准开发工具，以在系统工程框架下开展项目。