This paper proposes the task management system to decompose service request from a user into detailed robotic task plans. User's request should be simple, such as 'Bring me the newspaper'. However, robotic task plan is complicated and needs to be dynamically generated depending on actual environment and system status. We propose robot profile with capability properties to select robot depending on the task requirement. We developed the task planning method to generate task plan for each robot to realize service execution. Experiment shows that our system is able to realize complex service based on simple command from the user.