We focus on environmental informationally structuring that makes the environment around the robot intelligent, not just the robot itself. We have developed a software platform ROS-TMS to realize a service robot that coexists with humans in an informationally structured environment. ROS is currently being developed with a new ROS₂ with significantly changed and improved communication functions and additional internal functions. Therefore, in this research, we develop ROS₂-TMS, which adopts ROS₂ for ROS-TMS. In this research, we first develop and port various modules, such as a control system for a communication robot. Furthermore, in the development of the voice user interface and task scheduler, not only robots, but also operation commands to various devices that work on the user, are managed. And a new cancellation function is added to stop running tasks, with the aim of improving service security.