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 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 system's decomposition and 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其难以高效可靠地开发。系统工程（SE）与相关框架为此提供了支持。为确保所建应用模型标准化与正确性，框架元模型不可或缺。尽管当前框架应用广泛，但最流行的机器人操作系统（ROS）第1版至今仍缺乏一套现代化的元模型。本文提出一种新的ROS元模型（MeROS），该模型涵盖运行系统与开发者工作空间。为兼容ROS 1的最新版本，该元模型纳入了节点元（nodelet）、动作（action）与元包（metapackage）等ROS 1最新概念。对原始ROS概念的核心扩展在于引入了分组概念，从而能够描述系统的分解结构及其呈现时的不同细化程度。该元模型基于需求推导生成，并通过Rico辅助机器人实际案例进行验证。相关描述采用SysML语言，并借助标准开发工具以贯彻系统工程理念开展项目。