diff --git a/msg/MPParams.msg b/msg/MPParams.msg
index b185d478ff8086307a69c9a582dd221f0286c4ea..409ca1b7a1123dce3631d6739a7ca69f541bc0cc 100644
--- a/msg/MPParams.msg
+++ b/msg/MPParams.msg
@@ -6,6 +6,14 @@ int32 BASIC_PRM = 1
 int32 REPARATION_PRM = 2
 int32 RRT_CONNECT = 3
 int32 RRT_STAR = 4
+int32 OMPL_RRT = 5
+int32 OMPL_RRT_CONNECT = 6
+int32 OMPL_RRT_LAZY = 7
+int32 OMPL_RRT_STAR = 8
+int32 OMPL_PRM = 9
+int32 OMPL_PRM_STAR = 10
+int32 OMPL_PRM_LAZY = 11
+int32 OMPL_PRM_LAZY_STAR = 12
 int32 type                           # see above for values
 
 int32 POLYNOMIAL_CURVE_DEG_1 = 1