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，使得高效、可靠地开发这些系统面临困难。系统工程（SE）和相关框架为此提供了帮助。框架元模型需要支持所创建应用模型的标准性和正确性。尽管如今框架已广泛使用，但对于其中最流行的机器人操作系统（ROS）第1版而言，当代元模型至今仍付之阙如。本文提出了一种新的ROS元模型（MeROS），该模型同时涵盖了运行中的系统和开发者工作空间。为了与ROS 1的最新版本保持兼容，该元模型包含了最新的ROS 1概念，例如nodelet、action和metapackage。对原始ROS概念的一个重要补充是分组概念，它提供了描述系统分解以及系统呈现中不同详细程度的机会。该元模型源自需求，并在Rico辅助机器人的实际案例上进行了验证。相关内容采用SysML语言描述，并得到了标准开发工具的支持，以在系统工程的精神指导下开展项目。