The development of Cyber-Physical Systems, particularly in the field of autonomous mobile robotics, often relies on proprietary environments, which limit flexibility and interoperability. This paper proposes a modular and open-source methodology that enables the modeling and simulation of such systems using non-proprietary tools. The methodology integrates Functional Mock-up Interface standard for model exchange, Open Neural Network Exchange standard for Convolutional Neuronal Networks algorithms integration, ROS2 as robotic middleware, and Gazebo as the simulation environment. To validate the approach, we applied it in the development of a mobile robot that navigates autonomously by following traffic signals. This implementation demonstrates that these open technologies can be effectively combined, overcoming common integration barriers among proprietary tools. The proposed workflow provides a practical alternative to proprietary solutions and demonstrates the feasibility of integrating open standards for the development of autonomous robotic systems.