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

Systems built on the Robot Operating System (ROS) are increasingly easy to assemble, yet hard to govern and reliably coordinate. Beyond the sheer number of subsystems involved, the difficulty stems from their diversity and interaction depth. In this paper, we use a compact heterogeneous robotic system (HeROS), combining mobile and manipulation capabilities, as a demonstration vehicle under dynamically changing tasks. Notably, all its subsystems are powered by ROS.