mar/graphics/robmosys_levels.tex

\documentclass{standalone}
\usepackage{tikz}
\usepackage{siltex}
\usetikzlibrary {arrows.meta,positioning}
% Compliant PDF
\usepackage[a-3u]{pdfx}

\begin{document}

\begin{tikzpicture}[on grid,y=1.5cm,x=2.24cm, nodes={text height=.7em, text width=1.8cm, align=center,
draw=black!20, thick, fill=white, font=\footnotesize},
>={Stealth[round,sep]}, rounded corners, semithick]
    \node (a) at (0,0) {Mission};
    \node (b) at (0,-1) {Task};
    \node (c) at (0,-2) {Skill};
    \node (d) at (0,-3) {Service};
    \node (e) at (0,-4) {Component};

    \path[->] 
    (a) edge (b)
    (b) edge (c)
    (c) edge (d);
    \path[->,dashed]
    (d) edge (e);
\end{tikzpicture}
\end{document}