The goal of the UPF4ROS2 case study is to enable the use of Unified Planning Framework (UPF) at ROS 2 (Robot Operating System). The project will employ a technological approach based on the utilization of Managed Nodes introduced in ROS 2. These nodes possess a lifecycle that is defined by observable states and transitions, which can be triggered internally or externally. They have clear responsibilities such as memory allocation, communication management, and error handling. Additionally, UPF4ROS2 will be integrated into PlanSys2, allowing for plan runtime execution. This integration ensures that existing robotic applications using ROS 2 and PlanSys2 can maintain their compatibility, while also enabling the development of new applications that leverage the state-of-the-art planning capabilities provided by UPF. Besides, UP functionality has been added to a cognitive architecture for robots called MERLIN2.