diff --git a/src/control/src/DwaController.cpp b/src/control/src/DwaController.cpp
index 1ea21774384..4e0481a027f 100644
--- a/src/control/src/DwaController.cpp
+++ b/src/control/src/DwaController.cpp
@@ -2,6 +2,7 @@
 // Copyright 2018 Intel Corporation. All Rights Reserved.
 
 #include "control/DwaController.hpp"
+#include <chrono>
 
 DwaController::DwaController(const std::string & name, Robot * robot)
 : ControlTask(name, robot)
@@ -24,4 +25,11 @@ void
 DwaController::workerThread()
 {
   RCLCPP_INFO(get_logger(), "DwaController::workerThread");
+
+  while (!stopWorkerThread_)
+  {
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    RCLCPP_INFO(get_logger(), "DwaController::workerThread: doing work");
+  }
 }
+
diff --git a/src/mission_execution/CMakeLists.txt b/src/mission_execution/CMakeLists.txt
index 478ad0fb828..c0fbb9c4627 100644
--- a/src/mission_execution/CMakeLists.txt
+++ b/src/mission_execution/CMakeLists.txt
@@ -29,6 +29,7 @@ add_executable(mission_execution
 ament_target_dependencies(mission_execution 
   rclcpp 
   std_msgs
+  task
   )
 
 install(TARGETS ${PROJECT_NAME}
diff --git a/src/navigation/include/navigation/SimpleNavigator.hpp b/src/navigation/include/navigation/SimpleNavigator.hpp
index 3803391c051..8120a3f130c 100644
--- a/src/navigation/include/navigation/SimpleNavigator.hpp
+++ b/src/navigation/include/navigation/SimpleNavigator.hpp
@@ -7,6 +7,7 @@
 #include "navigation/NavigateToPoseTask.hpp"
 #include "planning/AStarPlanner.hpp"
 #include "control/DwaController.hpp"
+#include "task/TaskClient.hpp"
 
 class SimpleNavigator : public NavigateToPoseTask
 {
@@ -21,8 +22,11 @@ class SimpleNavigator : public NavigateToPoseTask
   void workerThread();
 
   // TODO: These will be the client-side proxies (like SimpleActionClient):
-  AStarPlanner * planner_;
-  DwaController * controller_;
+  //AStarPlanner * planner_;
+  //DwaController * controller_;
+
+  TaskClient * planner_;
+  TaskClient * controller_;
 };
 
 #endif  // NAVIGATION__SIMPLENAVIGATOR_HPP_
diff --git a/src/navigation/src/SimpleNavigator.cpp b/src/navigation/src/SimpleNavigator.cpp
index 7a1b5dd8300..8cb3bf1fdd1 100644
--- a/src/navigation/src/SimpleNavigator.cpp
+++ b/src/navigation/src/SimpleNavigator.cpp
@@ -2,11 +2,16 @@
 // Copyright 2018 Intel Corporation. All Rights Reserved.
 
 #include "navigation/SimpleNavigator.hpp"
+#include <chrono>
 
 SimpleNavigator::SimpleNavigator(const std::string & name, Robot * robot)
-: NavigateToPoseTask(name, robot), planner_(nullptr), controller_(nullptr)
+: NavigateToPoseTask(name, robot)
 {
   RCLCPP_INFO(get_logger(), "SimpleNavigator::SimpleNavigator");
+
+// TODO: make into C++ smart pointers
+  planner_ = new TaskClient("AStarPlanner", this);
+  controller_ = new TaskClient("DwaController", this);
 }
 
 SimpleNavigator::~SimpleNavigator()
@@ -24,4 +29,18 @@ void
 SimpleNavigator::workerThread()
 {
   RCLCPP_INFO(get_logger(), "SimpleNavigator::workerThread");
+
+  RCLCPP_INFO(get_logger(), "SimpleNavigator::workerThread: sending executes");
+  planner_->execute();
+  controller_->execute();
+
+  while (!stopWorkerThread_ /* && rclcpp::ok() */ )
+  {
+    RCLCPP_INFO(get_logger(), "SimpleNavigator::workerThread: doing work");
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+  }
+
+  RCLCPP_INFO(get_logger(), "SimpleNavigator::workerThread: sending cancels");
+  planner_->cancel();
+  controller_->cancel();
 }
diff --git a/src/planning/include/planning/PlanningTask.hpp b/src/planning/include/planning/PlanningTask.hpp
index 1e3e8319d13..b7a7b3b6692 100644
--- a/src/planning/include/planning/PlanningTask.hpp
+++ b/src/planning/include/planning/PlanningTask.hpp
@@ -4,10 +4,10 @@
 #ifndef PLANNING__PLANNINGTASK_HPP_
 #define PLANNING__PLANNINGTASK_HPP_
 
-#include "task/Task.hpp"
+#include "task/TaskServer.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 
-class PlanningTask : public Task
+class PlanningTask : public TaskServer
 {
 public:
   PlanningTask(const std::string & name);
diff --git a/src/planning/src/AStarPlanner.cpp b/src/planning/src/AStarPlanner.cpp
index b5463de7315..1a1fccf7e98 100644
--- a/src/planning/src/AStarPlanner.cpp
+++ b/src/planning/src/AStarPlanner.cpp
@@ -2,6 +2,7 @@
 // Copyright 2018 Intel Corporation. All Rights Reserved.
 
 #include "planning/AStarPlanner.hpp"
+#include <chrono>
 
 AStarPlanner::AStarPlanner(const std::string & name)
 : PlanningTask(name)
@@ -25,4 +26,11 @@ void
 AStarPlanner::workerThread()
 {
   RCLCPP_INFO(get_logger(), "AStarPlanner::workerThread");
+
+  while (!stopWorkerThread_)
+  {
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    RCLCPP_INFO(get_logger(), "AStarPlanner::workerThread: doing work");
+  }
 }
+
diff --git a/src/planning/src/PlanningTask.cpp b/src/planning/src/PlanningTask.cpp
index 8982a29547d..210c416f81f 100644
--- a/src/planning/src/PlanningTask.cpp
+++ b/src/planning/src/PlanningTask.cpp
@@ -4,7 +4,7 @@
 #include "planning/PlanningTask.hpp"
 
 PlanningTask::PlanningTask(const std::string & name)
-: Task(name)
+: TaskServer(name)
 {
   RCLCPP_INFO(get_logger(), "PlanningTask::PlanningTask");
 }
diff --git a/src/task/CMakeLists.txt b/src/task/CMakeLists.txt
index d102ac691c0..db3b6c94487 100644
--- a/src/task/CMakeLists.txt
+++ b/src/task/CMakeLists.txt
@@ -23,7 +23,8 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "../libs/")
 
 add_library(task STATIC
   src/RobotTask.cpp
-  src/Task.cpp
+  src/TaskServer.cpp
+  src/TaskClient.cpp
   )
 
 ament_target_dependencies(task
diff --git a/src/task/include/task/AStarPlanner.hpp b/src/task/include/task/AStarPlanner.hpp
deleted file mode 100644
index 1566ccdf5de..00000000000
--- a/src/task/include/task/AStarPlanner.hpp
+++ /dev/null
@@ -1,23 +0,0 @@
-// License: Apache 2.0. See LICENSE file in root directory.
-// Copyright 2018 Intel Corporation. All Rights Reserved.
-
-#ifndef TASK__ASTARPLANNER_HPP_
-#define TASK__ASTARPLANNER_HPP_
-
-#include "task/PlanningTask.hpp"
-
-class AStarPlanner : public PlanningTask
-{
-public:
-  AStarPlanner(const std::string & name);
-  AStarPlanner() = delete;
-  ~AStarPlanner();
-
-  void createPlan(const geometry_msgs::msg::PoseStamped & start,
-    const geometry_msgs::msg::PoseStamped & goal);
-
-protected:
-  void workerThread() override;
-};
-
-#endif  // TASK__ASTARPLANNER_HPP_
diff --git a/src/task/include/task/DwaController.hpp b/src/task/include/task/DwaController.hpp
deleted file mode 100644
index e245fcefb2d..00000000000
--- a/src/task/include/task/DwaController.hpp
+++ /dev/null
@@ -1,22 +0,0 @@
-// License: Apache 2.0. See LICENSE file in root directory.
-// Copyright 2018 Intel Corporation. All Rights Reserved.
-
-#ifndef TASK__SPECIFICCONTROLLER_HPP_
-#define TASK__SPECIFICCONTROLLER_HPP_
-
-#include "task/ControlTask.hpp"
-
-class DwaController : public ControlTask
-{
-public:
-  DwaController(const std::string & name, Robot * robot);
-  DwaController() = delete;
-  ~DwaController();
-
-  void executePlan() override; 
-
-protected:
-  void workerThread() override; 
-};
-
-#endif  // TASK__SPECIFICCONTROLLER_HPP_
diff --git a/src/task/include/task/RobotTask.hpp b/src/task/include/task/RobotTask.hpp
index 8a8d30f3021..1df0050542c 100644
--- a/src/task/include/task/RobotTask.hpp
+++ b/src/task/include/task/RobotTask.hpp
@@ -4,10 +4,10 @@
 #ifndef TASK__ROBOTTASK_HPP_
 #define TASK__ROBOTTASK_HPP_
 
-#include "task/Task.hpp"
+#include "task/TaskServer.hpp"
 #include "robot/Robot.hpp"
 
-class RobotTask : public Task
+class RobotTask : public TaskServer
 {
 public:
   RobotTask(const std::string & name, Robot * robot);
diff --git a/src/task/include/task/Task.hpp b/src/task/include/task/Task.hpp
deleted file mode 100644
index 6a69465e232..00000000000
--- a/src/task/include/task/Task.hpp
+++ /dev/null
@@ -1,33 +0,0 @@
-// License: Apache 2.0. See LICENSE file in root directory.
-// Copyright 2018 Intel Corporation. All Rights Reserved.
-
-#ifndef TASK__TASK_HPP_
-#define TASK__TASK_HPP_
-
-#include <atomic>
-#include <thread>
-#include <string>
-#include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
-
-class Task: public rclcpp::Node
-{
-public:
-  Task(const std::string & name);
-  virtual ~Task();
-
-  void execute();
-  void cancel();
-
-protected:
-  virtual void workerThread() = 0;
-
-  std::thread *workerThread_;
-  std::atomic<bool> stopWorkerThread_;
-
-  void onCmdReceived(const std_msgs::msg::String::SharedPtr msg);
-
-  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr cmdSub_;
-};
-
-#endif  // TASK__TASK_HPP_
diff --git a/src/task/include/task/TaskClient.hpp b/src/task/include/task/TaskClient.hpp
new file mode 100644
index 00000000000..979b0070e6e
--- /dev/null
+++ b/src/task/include/task/TaskClient.hpp
@@ -0,0 +1,41 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright 2018 Intel Corporation. All Rights Reserved.
+
+#ifndef TASK__TASKCLIENT_HPP_
+#define TASK__TASKCLIENT_HPP_
+
+#include <string>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+class TaskClient
+{
+public:
+  TaskClient(const std::string & name, rclcpp::Node * node);
+  virtual ~TaskClient();
+
+  typedef std_msgs::msg::String Goal;
+  typedef std_msgs::msg::String GoalID;
+  typedef std_msgs::msg::String Result;
+  typedef std_msgs::msg::String Feedback;
+  typedef std_msgs::msg::String Status;
+
+  void execute();
+  void cancel();
+
+protected:
+  void onResultReceived(const Result::SharedPtr msg);
+  void onFeedbackReceived(const Feedback::SharedPtr msg);
+  void onStatusReceived(const Status::SharedPtr msg);
+
+  rclcpp::Node * node_;
+
+  rclcpp::Publisher<Goal>::SharedPtr goalPub_;
+  rclcpp::Publisher<GoalID>::SharedPtr cancelPub_;
+
+  rclcpp::Subscription<Result>::SharedPtr resultSub_;
+  rclcpp::Subscription<Feedback>::SharedPtr feedbackSub_;
+  rclcpp::Subscription<Status>::SharedPtr statusSub_;
+};
+
+#endif  // TASK__TASKCLIENT_HPP_
diff --git a/src/task/include/task/TaskServer.hpp b/src/task/include/task/TaskServer.hpp
new file mode 100644
index 00000000000..b42eba7c3e7
--- /dev/null
+++ b/src/task/include/task/TaskServer.hpp
@@ -0,0 +1,56 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright 2018 Intel Corporation. All Rights Reserved.
+
+#ifndef TASK__TASKSERVER_HPP_
+#define TASK__TASKSERVER_HPP_
+
+#include <atomic>
+#include <thread>
+#include <string>
+#include <functional>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+class TaskServer: public rclcpp::Node
+{
+public:
+  TaskServer(const std::string & name);
+  virtual ~TaskServer();
+
+  // Execute
+  typedef std::function<void (const std_msgs::msg::String&)> ExecuteCallback;
+
+  typedef std_msgs::msg::String Goal;
+  typedef std_msgs::msg::String GoalID;
+  typedef std_msgs::msg::String Result;
+  typedef std_msgs::msg::String Feedback;
+  typedef std_msgs::msg::String Status;
+
+  // void publishStatus();
+  // void publishResult();
+  // void publishFeedback();
+
+  // Timer, status frequency
+
+protected:
+  void start(); 
+  void stop();
+
+  virtual void workerThread() = 0;
+
+  std::thread *workerThread_;
+  std::atomic<bool> stopWorkerThread_;
+  std::atomic<bool> running_;
+
+  void onGoalReceived(const Goal::SharedPtr msg);
+  void onCancelReceived(const GoalID::SharedPtr msg);
+
+  rclcpp::Subscription<Goal>::SharedPtr goalSub_;
+  rclcpp::Subscription<GoalID>::SharedPtr cancelSub_;
+
+  rclcpp::Publisher<Result>::SharedPtr resultPub_;
+  rclcpp::Publisher<Feedback>::SharedPtr feedbackPub_;
+  rclcpp::Publisher<Status>::SharedPtr statusPub_;
+};
+
+#endif  // TASK__TASKSERVER_HPP_
diff --git a/src/task/src/AStarPlanner.cpp b/src/task/src/AStarPlanner.cpp
deleted file mode 100644
index e9694b405db..00000000000
--- a/src/task/src/AStarPlanner.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-// License: Apache 2.0. See LICENSE file in root directory.
-// Copyright 2018 Intel Corporation. All Rights Reserved.
-
-#include "task/AStarPlanner.hpp"
-
-AStarPlanner::AStarPlanner(const std::string & name)
-: PlanningTask(name)
-{
-  RCLCPP_INFO(get_logger(), "AStarPlanner::AStarPlanner");
-}
-
-AStarPlanner::~AStarPlanner()
-{
-  RCLCPP_INFO(get_logger(), "AStarPlanner::~AStarPlanner");
-}
-
-void
-AStarPlanner::createPlan(const geometry_msgs::msg::PoseStamped & start,
-  const geometry_msgs::msg::PoseStamped & goal)
-{
-  RCLCPP_INFO(get_logger(), "AStarPlanner::createPlan");
-}
-
-void
-AStarPlanner::workerThread()
-{
-  RCLCPP_INFO(get_logger(), "AStarPlanner::workerThread");
-}
diff --git a/src/task/src/DwaController.cpp b/src/task/src/DwaController.cpp
deleted file mode 100644
index 4c7e54db03a..00000000000
--- a/src/task/src/DwaController.cpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// License: Apache 2.0. See LICENSE file in root directory.
-// Copyright 2018 Intel Corporation. All Rights Reserved.
-
-#include "task/DwaController.hpp"
-
-DwaController::DwaController(const std::string & name, Robot * robot)
-: ControlTask(name, robot)
-{
-  RCLCPP_INFO(get_logger(), "DwaController::DwaController");
-}
-
-DwaController::~DwaController()
-{
-  RCLCPP_INFO(get_logger(), "DwaController::~DwaController");
-}
-
-void
-DwaController::executePlan()
-{
-  RCLCPP_INFO(get_logger(), "DwaController::executePlan");
-}
-
-void
-DwaController::workerThread()
-{
-  RCLCPP_INFO(get_logger(), "DwaController::workerThread");
-}
diff --git a/src/task/src/RobotTask.cpp b/src/task/src/RobotTask.cpp
index 6e32da1e922..dc6a508e087 100644
--- a/src/task/src/RobotTask.cpp
+++ b/src/task/src/RobotTask.cpp
@@ -4,7 +4,7 @@
 #include "task/RobotTask.hpp"
 
 RobotTask::RobotTask(const std::string & name, Robot * robot)
-: Task(name)
+: TaskServer(name)
 {
   RCLCPP_INFO(get_logger(), "RobotTask::RobotTask");
   robot = robot;
diff --git a/src/task/src/Task.cpp b/src/task/src/Task.cpp
deleted file mode 100644
index f957ab24da4..00000000000
--- a/src/task/src/Task.cpp
+++ /dev/null
@@ -1,54 +0,0 @@
-// License: Apache 2.0. See LICENSE file in root directory.
-// Copyright 2018 Intel Corporation. All Rights Reserved.
-
-#include "task/Task.hpp"
-
-Task::Task(const std::string & name)
-: Node(name), workerThread_(nullptr), stopWorkerThread_(false)
-{
-  RCLCPP_INFO(get_logger(), "Task::Task");
-
-  cmdSub_ = create_subscription<std_msgs::msg::String>("TaskCmd",
-    std::bind(&Task::onCmdReceived, this, std::placeholders::_1));
-}
-
-Task::~Task()
-{
-  RCLCPP_INFO(get_logger(), "Task::~Task");
-  if (workerThread_ != nullptr)
-    cancel();
-}
-
-void
-Task::execute()
-{
-  RCLCPP_INFO(get_logger(), "Task::execute");
-  stopWorkerThread_ = false;
-  workerThread_ = new std::thread(&Task::workerThread, this);
-}
-
-void
-Task::cancel()
-{
-  RCLCPP_INFO(get_logger(), "Task::cancel");
-  stopWorkerThread_ = true;
-  workerThread_->join();
-
-  delete workerThread_;
-  workerThread_ = nullptr;
-}
-
-void
-Task::onCmdReceived(const std_msgs::msg::String::SharedPtr msg)
-{
-  RCLCPP_INFO(get_logger(), "Task::onCmdReceived: \"%s\"", msg->data.c_str())
-
-  if (msg->data.compare("ExecuteTask") == 0) {
-    execute();
-  } else if (msg->data.compare("CancelTask") == 0) {
-    cancel();
-  } else {
-    RCLCPP_INFO(get_logger(), "Task::onCmdReceived: invalid command: \"%s\"",
-      msg->data.c_str())
-  }
-}
diff --git a/src/task/src/TaskClient.cpp b/src/task/src/TaskClient.cpp
new file mode 100644
index 00000000000..bc9a2995b08
--- /dev/null
+++ b/src/task/src/TaskClient.cpp
@@ -0,0 +1,61 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright 2018 Intel Corporation. All Rights Reserved.
+
+#include "task/TaskClient.hpp"
+
+TaskClient::TaskClient(const std::string & name, rclcpp::Node * node)
+: node_(node)
+{
+  RCLCPP_INFO(node_->get_logger(), "TaskClient::TaskClient: %s", name.c_str());
+
+  goalPub_ = node_->create_publisher<Goal>(name + "_goal");
+  cancelPub_ = node_->create_publisher<GoalID>(name + "_cancel");
+
+  resultSub_ = node_->create_subscription<std_msgs::msg::String>(name + "_result",
+    std::bind(&TaskClient::onResultReceived, this, std::placeholders::_1));
+
+  feedbackSub_ = node_->create_subscription<std_msgs::msg::String>(name + "_feedback",
+    std::bind(&TaskClient::onFeedbackReceived, this, std::placeholders::_1));
+
+  statusSub_ = node_->create_subscription<std_msgs::msg::String>(name + "_status",
+    std::bind(&TaskClient::onStatusReceived, this, std::placeholders::_1));
+}
+
+TaskClient::~TaskClient()
+{
+  RCLCPP_INFO(node_->get_logger(), "TaskClient::~TaskClient");
+}
+
+void 
+TaskClient::execute()
+{
+  std_msgs::msg::String msg;
+  msg.data = "Hello, World!";
+
+  RCLCPP_INFO(node_->get_logger(), "TaskClient::execute: goalPub_: %p", goalPub_);
+  goalPub_->publish(msg);
+}
+
+void 
+TaskClient::cancel()
+{
+  std_msgs::msg::String msg;
+  msg.data = "Goodbye, World!";
+
+  cancelPub_->publish(msg);
+}
+
+void 
+TaskClient::onResultReceived(const Result::SharedPtr msg)
+{
+}
+
+void 
+TaskClient::onFeedbackReceived(const Feedback::SharedPtr msg)
+{
+}
+
+void 
+TaskClient::onStatusReceived(const Status::SharedPtr msg)
+{
+}
diff --git a/src/task/src/TaskServer.cpp b/src/task/src/TaskServer.cpp
new file mode 100644
index 00000000000..dc8dadaaa3d
--- /dev/null
+++ b/src/task/src/TaskServer.cpp
@@ -0,0 +1,73 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright 2018 Intel Corporation. All Rights Reserved.
+
+#include "task/TaskServer.hpp"
+
+TaskServer::TaskServer(const std::string & name)
+: Node(name), workerThread_(nullptr), stopWorkerThread_(false), running_(false)
+{
+  RCLCPP_INFO(get_logger(), "TaskServer::TaskServer");
+
+  goalSub_ = create_subscription<std_msgs::msg::String>(name + "_goal",
+    std::bind(&TaskServer::onGoalReceived, this, std::placeholders::_1));
+
+  cancelSub_ = create_subscription<std_msgs::msg::String>(name + "_cancel",
+    std::bind(&TaskServer::onCancelReceived, this, std::placeholders::_1));
+
+  resultPub_ = this->create_publisher<Result>(name + "_result");
+  feedbackPub_ = this->create_publisher<Feedback>(name + "_status");
+  statusPub_ = this->create_publisher<Status>(name + "_feedback");
+}
+
+TaskServer::~TaskServer()
+{
+  RCLCPP_INFO(get_logger(), "TaskServer::~TaskServer");
+  if (workerThread_ != nullptr)
+    stop();
+}
+
+void
+TaskServer::start()
+{
+  RCLCPP_INFO(get_logger(), "TaskServer::start");
+
+  if (running_) {
+    RCLCPP_INFO(get_logger(), "TaskServer::start: thread already running");
+  } else {
+    stopWorkerThread_ = false;
+    workerThread_ = new std::thread(&TaskServer::workerThread, this);
+	running_ = true;
+  }
+}
+
+void
+TaskServer::stop()
+{
+  RCLCPP_INFO(get_logger(), "TaskServer::stop");
+
+  if (!running_) {
+    RCLCPP_INFO(get_logger(), "TaskServer::stop: thread already stopped");
+  } else {
+    stopWorkerThread_ = true;
+    workerThread_->join();
+    delete workerThread_;
+    workerThread_ = nullptr;
+	running_ = false;
+  }
+}
+
+void
+TaskServer::onGoalReceived(const Goal::SharedPtr msg)
+{
+  RCLCPP_INFO(get_logger(), "TaskServer::onGoalReceived: \"%s\"", msg->data.c_str())
+
+  // TODO: save the msg, start the worker thread, which passes the msg to the user's callback
+  start();
+}
+
+void
+TaskServer::onCancelReceived(const GoalID::SharedPtr msg)
+{
+  RCLCPP_INFO(get_logger(), "TaskServer::onCancelReceived: \"%s\"", msg->data.c_str())
+  stop();
+}