uint8 STANDBY = 0
uint8 PATH_FOLLOW = 1
uint8 GO_TO_TARGET = 2
uint8 GO_HOME = 3
uint8 ZONE_CLEAN = 4
uint8 WALLFOLLOW_LEFT = 5
uint8 WALLFOLLOW_RIGHT = 6
uint8 GO_BACK = 7
uint8 AREA_NAVIGATOR = 8

uint8 type
clean_msg/TaskData data

#任务id
string task_id
#任务类型
int32 task_type
#子任务类型
int32 sub_task_type