diff --git a/rcl_interfaces/msg/ParameterType.msg b/rcl_interfaces/msg/ParameterType.msg
index e3c4f26b..b3e36ea1 100644
--- a/rcl_interfaces/msg/ParameterType.msg
+++ b/rcl_interfaces/msg/ParameterType.msg
@@ -7,8 +7,9 @@ uint8 PARAMETER_BOOL=1
 uint8 PARAMETER_INTEGER=2
 uint8 PARAMETER_DOUBLE=3
 uint8 PARAMETER_STRING=4
-uint8 PARAMETER_BYTE_ARRAY=5
-uint8 PARAMETER_BOOL_ARRAY=6
-uint8 PARAMETER_INTEGER_ARRAY=7
-uint8 PARAMETER_DOUBLE_ARRAY=8
-uint8 PARAMETER_STRING_ARRAY=9
+uint8 PARAMETER_YAML=5
+uint8 PARAMETER_BYTE_ARRAY=6
+uint8 PARAMETER_BOOL_ARRAY=7
+uint8 PARAMETER_INTEGER_ARRAY=8
+uint8 PARAMETER_DOUBLE_ARRAY=9
+uint8 PARAMETER_STRING_ARRAY=10
diff --git a/rcl_interfaces/msg/ParameterValue.msg b/rcl_interfaces/msg/ParameterValue.msg
index 4fba1bd2..8243d54f 100644
--- a/rcl_interfaces/msg/ParameterValue.msg
+++ b/rcl_interfaces/msg/ParameterValue.msg
@@ -22,6 +22,9 @@ float64 double_value
 # A textual value with no practical length limit.
 string string_value
 
+# A yaml string with a current upper limit of (100Kb) enforced by RCL
+string yaml_value
+
 # An array of bytes, used for non-textual information.
 byte[] byte_array_value