In recent years, the problem of the aging population and declining birth rate in Japan inspired research and development of service robots. Although we can provide a variety of services through coordination between the robots, it is difficult to synchronize the robots running on different software. In this paper, we propose a system concept and the coordination of different robot middlewares and demonstrate the system concept by implementing an actual robot system. More specifically, we develop a guidance system for a mobile robot using two middlewares OpenRTM and ROS with coordinating system eSEAT to convert the data types used in both systems. Additionally, we verify the efficiency of the system by combining it with Node-RED (superordinate system for scenario generation of robot) developed in our previous research in the future.