diff --git a/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp b/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp
index 67539f596..9e8f9f563 100644
--- a/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp
+++ b/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp
@@ -155,10 +155,12 @@ void TaskManager::set_queue(
     if (i != 0)
       start = assignments[i-1].state().location();
     start.time(a.deployment_time());
+    rmf_task_msgs::msg::TaskType task_type_msg;
 
     if (const auto request =
       std::dynamic_pointer_cast<const rmf_task::requests::Clean>(a.request()))
     {
+      task_type_msg.type = task_type_msg.TYPE_CLEAN;
       auto task = rmf_fleet_adapter::tasks::make_clean(
         request,
         _context,
@@ -169,19 +171,13 @@ void TaskManager::set_queue(
       std::lock_guard<std::mutex> guard(_mutex);
 
       _queue.push_back(task);
-
-      rmf_task_msgs::msg::TaskSummary msg;
-      msg.task_id = _queue.back()->id();
-      msg.task_profile.task_id = _queue.back()->id();
-      msg.state = msg.STATE_QUEUED;
-      msg.robot_name = _context->name();
-      this->_context->node()->task_summary()->publish(msg);
     }
 
     else if (const auto request =
       std::dynamic_pointer_cast<const rmf_task::requests::ChargeBattery>(
         a.request()))
     {
+      task_type_msg.type = task_type_msg.TYPE_CHARGE_BATTERY;
       const auto task = tasks::make_charge_battery(
         request,
         _context,
@@ -192,20 +188,13 @@ void TaskManager::set_queue(
       std::lock_guard<std::mutex> guard(_mutex);
 
       _queue.push_back(task);
-
-      rmf_task_msgs::msg::TaskSummary msg;
-      msg.task_id = _queue.back()->id();
-      msg.task_profile.task_id = _queue.back()->id();
-      msg.state = msg.STATE_QUEUED;
-      msg.robot_name = _context->name();
-      this->_context->node()->task_summary()->publish(msg);
-
     }
 
     else if (const auto request =
       std::dynamic_pointer_cast<const rmf_task::requests::Delivery>(
         a.request()))
     {
+      task_type_msg.type = task_type_msg.TYPE_DELIVERY;
       const auto task = tasks::make_delivery(
         request,
         _context,
@@ -214,19 +203,12 @@ void TaskManager::set_queue(
         a.state());
 
       _queue.push_back(task);
-
-      rmf_task_msgs::msg::TaskSummary msg;
-      msg.task_id = _queue.back()->id();
-      msg.task_profile.task_id = _queue.back()->id();
-      msg.state = msg.STATE_QUEUED;
-      msg.robot_name = _context->name();
-      this->_context->node()->task_summary()->publish(msg);
-
     }
 
     else if (const auto request =
       std::dynamic_pointer_cast<const rmf_task::requests::Loop>(a.request()))
     {
+      task_type_msg.type = task_type_msg.TYPE_LOOP;
       const auto task = tasks::make_loop(
         request,
         _context,
@@ -235,19 +217,25 @@ void TaskManager::set_queue(
         a.state());
 
       _queue.push_back(task);
-
-      rmf_task_msgs::msg::TaskSummary msg;
-      msg.task_id = _queue.back()->id();
-      msg.task_profile.task_id = _queue.back()->id();
-      msg.state = msg.STATE_QUEUED;
-      msg.robot_name = _context->name();
-      this->_context->node()->task_summary()->publish(msg);
     }
 
     else
     {
       continue;
     }
+
+    // publish queued task
+    rmf_task_msgs::msg::TaskSummary msg;
+    msg.task_id = _queue.back()->id();
+    msg.task_profile.task_id = _queue.back()->id();
+    msg.state = msg.STATE_QUEUED;
+    msg.robot_name = _context->name();
+    msg.task_profile.task_type = task_type_msg;
+    msg.start_time = rmf_traffic_ros2::convert(
+      _queue.back()->deployment_time());
+    msg.start_time = rmf_traffic_ros2::convert(
+      _queue.back()->finish_state().finish_time());
+    this->_context->node()->task_summary()->publish(msg);
   }
 }
 
@@ -261,11 +249,8 @@ const std::vector<rmf_task::ConstRequestPtr> TaskManager::requests() const
     if (std::dynamic_pointer_cast<const rmf_task::requests::ChargeBattery>(
       task->request()))
       continue;
-
     requests.push_back(task->request());
-
   }
-  
   return requests;
 }
 
@@ -315,6 +300,10 @@ void TaskManager::_begin_next_task()
       msg.task_id = id;
       msg.task_profile.task_id = id;
       msg.robot_name = _context->name();
+      msg.start_time = rmf_traffic_ros2::convert(
+        _active_task->deployment_time());
+      msg.end_time = rmf_traffic_ros2::convert(
+        _active_task->finish_state().finish_time());
       _context->node()->task_summary()->publish(msg);
     },
           [this, id = _active_task->id()](std::exception_ptr e)
@@ -332,6 +321,10 @@ void TaskManager::_begin_next_task()
       msg.task_id = id;
       msg.task_profile.task_id = id;
       msg.robot_name = _context->name();
+      msg.start_time = rmf_traffic_ros2::convert(
+        _active_task->deployment_time());
+      msg.end_time = rmf_traffic_ros2::convert(
+        _active_task->finish_state().finish_time());
       _context->node()->task_summary()->publish(msg);
       // _begin_next_task();
     },
@@ -342,6 +335,10 @@ void TaskManager::_begin_next_task()
       msg.task_profile.task_id = id;
       msg.state = msg.STATE_COMPLETED;
       msg.robot_name = _context->name();
+      msg.start_time = rmf_traffic_ros2::convert(
+        _active_task->deployment_time());
+      msg.end_time = rmf_traffic_ros2::convert(
+        _active_task->finish_state().finish_time());
       this->_context->node()->task_summary()->publish(msg);
 
       _active_task = nullptr;