  There is currently a large amount of robotics software using the
component-oriented programming paradigm. However, the rapid growth in number
and complexity of components may compromise the scalability and the whole
lifecycle of robotics software systems. Model-Driven Engineering can be used to
mitigate these problems. This paper describes how using Domain-Specific
Languages to generate and describe critical parts of robotic systems helps
developers to perform component managerial tasks such as component creation,
modification, monitoring and deployment. Four different DSLs are proposed in
this paper: i) CDSL for specifying the structure of the components, ii) IDSL
for the description of their interfaces, iii) DDSL for describing the
deployment process of component networks and iv) PDSL to define and configure
component parameters. Their benefits have been demonstrated after their
implementation in RoboComp, a general-purpose and component-based robotics
framework. Examples of the usage of these DSLs are shown along with experiments
that demonstrate the benefits they bring to the lifecycle of the components.
