This paper presents a case study which settles the basis for a modeling approach dedicated to robotic applications build upon ROS, the Robot Operating System. The Architecture Analysis and Design Language (AADL) is used with specific properties that allow to analyze bus load and CPU load of the embedded hardware. This paper focuses on bus load analysis: a profiling of ROS communication services, based on standard performance reporting tools from Linux, permits to determine the values of those properties. A library of AADL models is proposed, both for ROS services and for robots and embedded computer boards. We explain how this library is built, and show how to use components from this library to model the robotic system, including the software, the hardware, and the deployment of the software components on the hardware platform. Then we demonstrate bus load analysis using the analysis tool included in OSATE2 (Open Source AADL2 Tool Environment). Combined with CPU load analysis, exploration of deployment solutions can then be achieved.