This FTP proposes development of an infrastructure for robot prognostic and health management tool using model-based methodology namely” Prognostics and Health Management tool for ROS”. This tool will be responsible for managing / monitoring robots’ health, RUL, probability of task completion (PoTC) etc. User is able to enter the necessary equations and components information (hazard rates, robot configuration etc.) to the PHM tool and the other sensory data like temperature, humidity, pressure, load etc. In addition to this, a PHM package will be developed for the Mobile Robots using this tool.