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. MeROS is a new SysML-based metamodel for ROS, which addresses the running system and developer workspace. The ROS comes in two versions: ROS 1 and ROS 2. The MeROS 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 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.
- MeROS documentation (pdf) (current version - recommended for use)
- MeROS poster (pdf) (B0 size)
- Releases and Changelog
- Practical tutorial to MeROS usage with Visual Paradigm
- Wskazówki dla studentów i nie tylko (in Polish)
- Author profie - https://www.robotyka.ia.pw.edu.pl/team/twiniarski/
- IEEE ACCESS scientific paper with a complete description of the initial version of MeROS - https://ieeexplore.ieee.org/document/10207804. Please cite it while publishing articles that relates to MeROS.
- User feedback and contribution is welcome with issues https://github.com/twiniars/MeROS/issues