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:当前机器人控制系统的复杂性意味着开发这些系统的效率和可靠性存在困难。系统工程(SE)和框架提供了帮助。框架元模型需要支持已创建应用模型的标准化和正确性。虽然现在广泛使用框架,但对于最受欢迎的ROS 1,缺乏当代元模型。本文提出了一种新的ROS元模型(MeROS),它涵盖了运行系统和开发者工作区。为了与最新版本的ROS 1兼容,该元模型包括最新的ROS 1概念,如nodelet、action和metapackage。对ROS概念的一个重要补充是分组概念,它提供了说明系统分解以及向不同粒度显示的机会。元模型来源于需求,然后在Rico辅助机器人的实际示例上进行验证。该元模型使用SysML语言描述,支持通过系统工程进行项目开发。