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导致其高效可靠开发面临挑战。系统工程（SE）及其框架为此提供了解决方案。框架元模型对于支持所创建应用模型的标准化与正确性至关重要。尽管当前框架应用已相当普遍，但针对其中最主流的机器人操作系统（ROS）第一版，仍缺乏完整且符合时代特征的元模型。本文提出了一种面向ROS的新型元模型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最新版本，该元模型纳入了nodelet、action及metapackage等最新ROS 1概念。在原始ROS概念基础上，关键创新在于引入了分组概念，为系统分解及其多层次细节呈现提供了实现途径。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完成验证。相关描述采用SysML语言，辅以标准开发工具，确保项目在系统工程框架下实施。