With the progress in artificial intelligence and other related technologies, the intelligent robot technology has been greatly advanced. Its increasingly mature software and hardware facilities put forward new requirements for the research and development of the robot operating system and architecture. In this paper, a traditional widely-used robot operating system, ROS, is introduced and analyzed, and the improved robot operating system, ROCOS, is compared with ROS to analyze the optimized system architecture. Additionally, the organizational frameworks of the both are detailed, and the simulation experiment is conducted to test the rationality and performance of the frameworks. The presented work can serve as a reference for the subsequent research and development of new robot operating systems.