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难以有效和可靠地开发这些系统。系统工程(SE)和框架是有所帮助的。框架元模型需要用来支持所创建的应用模型的标准化和正确性。虽然目前框架的使用很普遍,但对于最受欢迎的应用模型来说,目前最流行的机器人操作系统(ROS)第一版是完整、当代的元模型,但迄今为止还缺少这种完整的现代元模型。本篇文章提出了新的ROS(MEROS)元模型,它既涉及运行系统,也涉及开发者工作空间。为了与最新版本的ROS 1兼容性,元模型包括最新的ROS 1概念,如节点、行动和元包装。原始ROS概念的一个基本补充是组合概念,它提供了一个机会来说明系统的分解情况,以及其介绍的详细程度各不相同。该元模型来自要求,然后对Rico辅助机器人的实际范例进行了核实。该元模型用SysML语言描述,并辅之以SE精神下进行项目的标准开发工具。</s>