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 conduct projects in the spirit of SE.

翻译：当今机器人控制系统的复杂性，意味着高效且可靠地开发它们存在困难。系统工程（SE）和开发框架为此提供了帮助。框架元模型对于确保所创建应用模型的标准性与正确性至关重要。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），至今仍缺乏一个当代的元模型。本文提出了一个面向ROS的新元模型，称为MeROS，该模型涵盖了运行系统与开发者工作空间。ROS包含两个版本：ROS 1与ROS 2，该元模型同时纳入了这两个版本。具体而言，考虑了最新的ROS 1概念，如nodelet、action和metapackage。对原始ROS概念的一个重要补充是对这些概念进行分组，这为展示系统的分解及其表示中的不同程度细节提供了可能性。该元模型源自实际需求，并通过Rico辅助机器人的实际案例进行了验证。相关内容已采用SysML（系统建模语言）以标准化方式描述。因此，支持SysML的通用开发工具可助力以系统工程精神开展项目。