Non-functional properties are an essential part of any software solution. There is a lot of literature on what non-functional properties are but, unfortunately, there is also a lot of disagreement and different points of view on how to deal with them. Non-functional properties, such as safety or dependability, become particularly relevant in the context of robotics. In the EU H2020 RobMoSys Project, non-functional properties are treated as first-class citizens and considered key added-value services. In this vein, the RoQME Integrated Technical Project, funded by RobMoSys, aims at contributing a model-driven tool-chain for dealing with system-level non-functional properties, enabling the specification of global robot Quality of Service (QoS) metrics. The estimation of these metrics at runtime, in terms of the contextual information available, can then be used for different purposes, such as robot behavior adaptation or benchmarking.