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A software platform for Human Robot Interaction (HRI) is designed and implemented based on the application background of mobile robot for inspection and rescue tasks, replacing human beings in hazardous areas. The design process of the software is modeled with UML and the design is based on modular components; the components work in parallel and communicate concurrently through queued message-response mechanism. The software platform is implemented with LabVIEW Actor Framework, in which the main Actor is designed with state machine in order to coordinate communication among components; a remote proxy Actor is designed to bridge the communication of ROS-based control system of the remote robot with the software platform, that is to send instructions from human to robot and to receive data back from sensors. The experimental system is deployed on two computers: one running the LabVIEW-based HRI software, and the other running the ROS-based simulation software of P3AT control system. Experiments show that the components of the software platform work together properly, and the interaction is natural and smooth between the human operator and the remote robot. The result meets the expectations.