In this work, we present Runtime Model-driven ROS* (RuMROS*), a framework for facilitating development of robotic applications with multiple mobile robots. By introducing a runtime model, this tool bridges the gap between intuitive, high-level behavior and intermediate ROS2 interfaces. For this purpose, a metamodeling approach is used, based on Reference Attribute Grammars (RAG), which enables developers to specify the structure of their model. From a concrete model, a GUI can be generated to manage the system on a high level at runtime. Furthermore, behavior modeling structures based on hierarchical finite state machines (HFSM) are used to provide a structured approach to adapting behavior by composing low-level, decentralized behavioral patterns. We include an example model and patterns for a warehouse scenario, running on the ARGoS simulation platform.