diff --git a/rmf_task_msgs/CMakeLists.txt b/rmf_task_msgs/CMakeLists.txt
index 498eceeab..49f6f43cc 100644
--- a/rmf_task_msgs/CMakeLists.txt
+++ b/rmf_task_msgs/CMakeLists.txt
@@ -27,6 +27,7 @@ set(msg_files
   "msg/Loop.msg"
   # New task Msgs
   "msg/TaskType.msg"
+  "msg/Clean.msg"
   "msg/TaskProfile.msg"
   "msg/BidNotice.msg"
   "msg/BidProposal.msg"
diff --git a/rmf_task_msgs/msg/Clean.msg b/rmf_task_msgs/msg/Clean.msg
new file mode 100644
index 000000000..5c60c9b74
--- /dev/null
+++ b/rmf_task_msgs/msg/Clean.msg
@@ -0,0 +1,2 @@
+string start_waypoint
+
diff --git a/rmf_task_msgs/msg/TaskProfile.msg b/rmf_task_msgs/msg/TaskProfile.msg
index b0183890c..571474f2d 100644
--- a/rmf_task_msgs/msg/TaskProfile.msg
+++ b/rmf_task_msgs/msg/TaskProfile.msg
@@ -7,8 +7,14 @@ builtin_interfaces/Time submission_time
 # Desired start time of a task
 builtin_interfaces/Time start_time
 
-# e.g. Delivery, Station.....
-TaskType type
+# Task type
+TaskType task_type
+
+# Task definitions
+Station station
+Loop loop
+Delivery delivery
+# Charge charge
+Clean clean
+# Patrol patrol
 
-# Params
-BehaviorParameter[] params
diff --git a/rmf_task_msgs/msg/TaskType.msg b/rmf_task_msgs/msg/TaskType.msg
index e7acd39a0..ac3733bbe 100644
--- a/rmf_task_msgs/msg/TaskType.msg
+++ b/rmf_task_msgs/msg/TaskType.msg
@@ -1,9 +1,8 @@
-# type of task
-uint8 value
+uint32 type
+uint32 TYPE_STATION=0
+uint32 TYPE_LOOP=1
+uint32 TYPE_DELIVERY=2
+uint32 TYPE_CHARGING=3
+uint32 TYPE_CLEANING=4
+uint32 TYPE_PATROL=5
 
-uint8 STATION_TASK=0
-uint8 LOOP_TASK=1
-uint8 DELIVERY_TASK=2
-uint8 CHARGING_TASK=3
-uint8 CLEANING_TASK=4
-uint8 PATROL_TASK=5
diff --git a/rmf_task_msgs/srv/SubmitTask.srv b/rmf_task_msgs/srv/SubmitTask.srv
index 914aa016b..d17232a2e 100644
--- a/rmf_task_msgs/srv/SubmitTask.srv
+++ b/rmf_task_msgs/srv/SubmitTask.srv
@@ -6,11 +6,16 @@ string requester
 # Desired start time of a task
 builtin_interfaces/Time start_time
 
-# e.g. Delivery, Station.....
-TaskType type
+# Task type
+TaskType task_type
 
-# Params
-BehaviorParameter[] params
+# Task definitions
+Station station
+Loop loop
+Delivery delivery
+# Charge charge
+Clean clean
+# Patrol patrol
 
 ---