首先声明：写该文的目的，是记录我的学习生活以及向导师展示学习进度和成果，方便老师及时指导。
写该文的动机呢是，发现自己英文水平太烂，并且，对ROS系统相当茫然，故而，以博带练，希冀可以日复一日的积累，提高自己的水平。
当然，论文那么长，一次性也翻不完，日日更新，一天翻多少算多少，直到翻完。
这篇文章是圣三一大学的一篇论文，题目叫做：Robot Operating Systems:Bridging the Gap between Human and Robot，当然，仅作学习用途，欢迎大家进行指导。
Abstract
A robot operating system (ROS) is a collection of programs which allow a user to easily control the mobile operations of a robot. This paper describes research conducted on sixteen different ROSs to determine which one will most accommodate future Trinity undergraduates for use in further robotics research. The goal of this research is to reduce this list of 16 ROSs to a single ROS that can be used by Trinity undergraduates with limited programming experience to perform simple robotic motion tasks. First, a detailed list of criteria describing the ideal ROS was created.The list of ROSs was narrowed down to a single ROS that best fit these criteria. This ROS is called Player/Stage. Next,Player/Stage was tested to ensure the validity of the research performed. In these tests, a robot’s mobility and sensors were controlled by a user via Player/Stage. This ROS excelled in both the mobility tests and the sensor tests, and also proved simple to navigate and manage.
摘要
机器人控制系统是一个能够使使用者更易于控制一个可移动运行的机器人的程序集合（可见ROS是软件）。这篇论文描述了研究分析十六种不同的ROS模型来确定哪一种模型是最能够适应未来的发展，圣三一大学的学生进一步进行了研究。这些研究的目的是为了让这16种模型的名单缩短，这项工作是三圣一大学的同学用有限的编程设计经验来执行简单的机器人动作任务来完成的。 首先，创建一套能够描述ros的详细标准。在这些十六个模型中，单独挑出一个最能符合这些标准多一个，这个ROS模型被称为Player/Stage。其次，Player/Stage是用来检测去确定研究执行的正确性。在这些检测中，一个机器人的移动性和传感器被使用者通过Player/Stage来进行控制。这种ROS模型通过了移动性测试和传感器测试，并且，证明了操作性和管理性。
I. I NTRODUCTION
In order to understand what a robot operating system is and what function it serves, it is important to first understand the function of an ordinary operating system on a personal computer. An operating system is a collection of programs which control the raw computing power of the hardware of the computer. The operating system retains control of the hardware by choosing when application programs will receive computer resources, and when these programs will not. Computer resources can be either hardware or software; examples include the CPU, main memory, input-output devices, communication devices, and data.
第一部分，介绍
为了去明白究竟什么是机器人操作系统和它服务于什么系统,那首先就是要了解在个人电脑上的普通操作系统的功能是什么。每一种操作系统都是一种受电脑硬件计算能力所控制的许多程序集合。当应用程序接收到电脑资源或者没有的时候，通过选择这种操作系统延续了硬件的控制方式。电脑资源包括硬件和软件，比如：CPU，主要记忆，输入输出设备，通信设备和数据。