Robotics software systems are becoming increasingly more complex, which makes the development progressively more challenging. Different robots have different requirements, and they often require to cooperate together to achieve a common goal. This thesis presents Wirom2.0, an extensible system for mission planning of heterogeneous Multi-Robot Teams. By using the principles of Model Driven Software Engineering Wirom2.0 simplifies the mission planning of multi-robot teams by creating useful abstractions and facilitate for great extensibility.