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In this paper, composition of components based on OPRoS and its interface for software service robots are described. The service robots have large variety of functionalities, such as navigation, manipulation and recognition. Due to the complexity of software with variety software modules, reusability and portability of software become important. In recent year, in order to increase the reusability, based on components software is developed to use for robot software. However, because the composition of components for robot applications and interfaces of components are not properly defined, its portability is not well guaranteed. In this paper, a new approach to the composition and interfaces of components for navigation, manipulation and recognition applications are suggested to increase the portability. Finally, the paper shows that the suggested method is efficient and useful for that purpose.