In recent years, the demand for robot-based services has increased because of labor shortages caused by factors such as declining birth rates and an aging population. As a result, various robot functions and systems have been developed using robot middleware. However, when users attempt to reuse these functions to develop new robot systems, the implementation methods and middleware differ for each robot, rendering system construction and operation a significant burden. In particular, differences in the module structure and communication mechanisms often require additional configuration work, even when similar functions are available. To address this issue, this study developed a framework that enables the unified construction of applications using standard-compliant modules and the integrated operation of heterogeneous middleware systems. We proposed an updated version of this framework that supports more flexible operations, including distributed configurations, and evaluated its operational efficiency. The proposed framework conceals middleware dependencies, enabling systems to be operated without system operators having any knowledge about the underlying middleware. Additionally, it reduces the burden of application development by leveraging the Robotic Interaction Service (RoIS) framework.
