ROS-related Robotic Systems Development with V-model-based Application of MeROS Metamodel

• URL: http://arxiv.org/abs/2506.08706v1
• Date: Tue, 10 Jun 2025 11:44:00 GMT
• Title: ROS-related Robotic Systems Development with V-model-based Application of MeROS Metamodel
• Authors: Tomasz Winiarski, Jan Kaniuka, Daniel Giełdowski, Jakub Ostrysz, Krystian Radlak, Dmytro Kushnir,
• Abstract summary: We propose a domain-specific methodology that bridges ROS-centric modelling with systems engineering practices.<n>Our approach formalises the structure, behaviour, and validation processes of robotic systems using MeROS.<n>Rather than prescribing a fixed procedure, the approach supports project-specific flexibility and reuse.
• Score: 0.0
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: As robotic systems grow increasingly complex, heterogeneous, and safety-critical, the need for structured development methodologies becomes paramount. Although frameworks like the Robot Operating System (ROS) and Model-Based Systems Engineering (MBSE) offer foundational tools, they often lack integration when used together. This paper addresses that gap by aligning the widely recognized V-model development paradigm with the MeROS metamodel SysML-based modeling language tailored for ROS-based systems. We propose a domain-specific methodology that bridges ROS-centric modelling with systems engineering practices. Our approach formalises the structure, behaviour, and validation processes of robotic systems using MeROS, while extending it with a generalized, adaptable V-model compatible with both ROS and ROS 2. Rather than prescribing a fixed procedure, the approach supports project-specific flexibility and reuse, offering guidance across all stages of development. The approach is validated through a comprehensive case study on HeROS, a heterogeneous multi-robot platform comprising manipulators, mobile units, and dynamic test environments. This example illustrates how the MeROS-compatible V-model enhances traceability and system consistency while remaining accessible and extensible for future adaptation. The work contributes a structured, tool-agnostic foundation for developers and researchers seeking to apply MBSE practices in ROS-based projects.

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