The Robot Operating System (ROS) comprises a collection of software libraries and tools utilized for constructing robotic systems, distinguished by its distributed and modular design. Within the context of ROS, task planning pertains to the arrangement of actions into a structured sequence aimed at achieving predefined objectives, all while striving to minimize associated costs, whether in terms of time or energy consumption. Task planning assumes critical importance when guiding the actions of a robotic agent, particularly in scenarios where a causal sequence could potentially lead the agent into a deadlock situation. Furthermore, task planning finds utility in less restrictive environments, contributing to the delivery of more intelligent and adaptive robotic behavior. This paper introduces the ROSPLAN framework, an architectural solution designed to seamlessly integrate task planning into ROS-based systems. It presents a comprehensive overview of this framework.