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意味着高效、可靠地开发它们具有很大难度。系统工程（SE）及各类框架对此有所助益。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。尽管目前框架的使用已十分普遍，但对于其中最流行的框架——机器人操作系统（ROS）第1版而言，至今仍缺少一个完整且与新进发展同步的元模型。本文为ROS提出了一种新的元模型（MeROS），该元模型兼顾了运行系统与开发者工作空间。为了与ROS 1的最新版本兼容，该元模型纳入了节点元、动作以及元包等最新的ROS 1概念。对原始ROS概念的一项关键补充是分组概念，它提供了展示系统分解以及在不同程度上详略呈现系统的可能性。该元模型源自需求分析，并在Rico辅助机器人的实际案例中得到了验证。相关事宜以SysML语言描述，并借助标准开发工具，遵循系统工程（SE）精神开展项目。