Social robot in service is radically changing the ways of performing tasks and it becomes a distinct and valuable nascent. To achieve persist autonomy, robotic systems implement a closed-loop consisting of at least planning, reasoning and acting phases. From the continual loop perspective, this paper presents the ROSPlan framework, as a task planning and executing platform, and it introduces the integration of the ROSPlan framework in a service robotic system. Moreover, it discusses the planning, observing, monitoring, and executing processes in detail. A use case scenario is proposed which is suitable for the experiment requirements, and it presents a service robot accomplishing an assistant task in educational campus. Considering the implementation of the ROSPlan framework, TurtleBot3 robot using Gazebo simulates the execution phase of the proposed scenario.