With the development of robot technology and the popularity of hardware, the prospect of robot market is much brighter than in the past. However, there are still many limitations of robots, in particular the weakness of portability, high computing costs and few applications. With the raise of cloud robotics, computing process can be migrated from local robot to cloud, not only improves the computing power and reduces hardware costs of robot, but also allows a more balanced allocation of resources. In this paper, it proposes a service framework for ROS-based cloud robot. This service framework uses open-source robot operating system ROS as the basis for running the robot, enhancing its portability to different hardware and software environments. Meanwhile, it joins the service management system and service analysis module in the cloud, so that robot service can be easily expanded and quickly called. As the experiment part of the paper, it uses a face recognition service module to testing our framework for ROS-based cloud robot.