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This section contains specific information about RobMoSys compliance of Papyrus for Robotics.
The tier-1 includes the meta-model structures or in our case the UML profile defining the different structures.
The following figure shows the block-port-connector profile. This is the basic profile for the composition structures within Papyrus for Robotics. An entity is a generic element that has a UID, a description, an author and an organization (provenance) that developed it. The UID of the model and those of the meta-model is a derived information calculated from the UID of the root element in the model and the UID of the profile, respectively. A Block (extending the UML meta-class Class) can be a container for further blocks. It also has a set of ports, connectors and relationships. The latter are all derived relationshops that are calculated from the UML structures (a UML class owns ports and connectors. It can be a source or target of UML relationships).
The following figure shows an excerpt of the “components” sub-profile. This profile is part of a collection of sub-profiles (including for instance skills, services, behavior-trees) which refine concepts of the BPC profile for a specific aspect. The stereotype «ComponentDefinition» defines a component definition. It inherits from the abstract stereotype ComponentOrSystem which in turn inherits and refines concepts of the Block that is part of the block-port-connector structures. A component definition has thus activities, (configuration-) parameters and ports.
The Tier-2 layer in Papyrus for Robotics is defined by model-libraries, This includes notable the model libraries for service and skill definitions.
The Tier-3 layer in Papyrus for Robotics consists of user-defined models or examples.