An informationally structured environment (ISE) is a key technology for realizing service robots in daily life in the near future. In ISE, the information of the service robot and its surroundings is structured and provided to the robot on time and on demand. We started the development of a management system for ISE named TMS (Town Management System) in Robot Town Project in 2005. Since then we are continuing our efforts for the improvement of the performance and the enhancement of the functions of TMS. In this paper, we propose the latest system of TMS named ROS-TMS 5.0, which adopts ROS to utilize high scalability and rich resources of ROS. Next, we introduce the hardware platform of ISE called Big Sensor Box which incorporates various sensors under ROS-TMS management and operates service robots based on structured information. Robot service experiments including watching service of a care receiver, voice control of a communication robot and a robotic bed, and ing information by voice are also conducted in Big Sensor Box.

This paper presents the service robot system based on informationally structured environment named ROS-TMS that supports a robot to provide services to human. The development of the system was started in 2005 in the project named Robot Town Project, and recently we launched a new version named ROS-TMS4.0, which enables to utilize the high scalability and a plenty of resources of ROS. In this paper, we introduce the newly implemented extensions in ROS-TMS4.0 and the service provide experiments using the proposed system.

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