diff --git a/.circleci/config.yml b/.circleci/config.yml
index e4ee2c83..0d42d414 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -3,7 +3,7 @@ jobs:
   build:
     # Setup docker
     docker:
-      - image: usdotfhwastoldev/carma-base:develop
+      - image: usdotfhwastol/carma-base:carma-system-3.8.0
         user: carma
         environment:
           TERM: xterm # use xterm to get full display output from build
diff --git a/cav_msgs/msg/LaneFollowingManeuver.msg b/cav_msgs/msg/LaneFollowingManeuver.msg
index dbcbb312..8d0d4df9 100644
--- a/cav_msgs/msg/LaneFollowingManeuver.msg
+++ b/cav_msgs/msg/LaneFollowingManeuver.msg
@@ -16,5 +16,5 @@ float64 end_dist
 float64 end_speed
 time end_time
 
-# GUID of the lane of this maneuver
-string lane_id
+# List of lanes this maneuver will cover. They should all be contigous lanes connected end to end (ie. no lane changes)
+string[] lane_ids
diff --git a/cav_msgs/msg/ManeuverParameters.msg b/cav_msgs/msg/ManeuverParameters.msg
index bfce0b2e..a8a338f6 100644
--- a/cav_msgs/msg/ManeuverParameters.msg
+++ b/cav_msgs/msg/ManeuverParameters.msg
@@ -9,7 +9,7 @@
 string  maneuver_id
 
 # Enum indicating the type of negotiation this maneuver is involved in
-uint8 neogition_type
+uint8 negotiation_type
 
 uint8 NO_NEGOTIATION = 0
 uint8 GENERAL_NEGOTIATION = 1
diff --git a/cav_srvs/srv/PlanManeuvers.srv b/cav_srvs/srv/PlanManeuvers.srv
index 0f46d45c..9c3f8195 100644
--- a/cav_srvs/srv/PlanManeuvers.srv
+++ b/cav_srvs/srv/PlanManeuvers.srv
@@ -6,9 +6,38 @@
 
 #request
 
+# Header
+# Stamp for the header should match time that vehicle state was computed. 
+std_msgs/Header header 
+
 # Maneuvers planned prior to the current planning request.
 # These maneuvers must not be modified by this process
 cav_msgs/ManeuverPlan prior_plan
+
+### Vehicle Initial State
+# The following vehicle state values represent the state of the vehicle at the time specified by header 
+# These values should match the start conditions for the first maneuver in prior_plan
+# Therefore for planners called after prior_plan is populated these fields should be ignored
+# Instead the end conditions of the last maneuver in prior_plan should fill this role
+###
+
+# Vehicle initial 2d position in the frame specified by header at the time specified by header
+# Units: m
+float64 veh_x
+float64 veh_y
+
+# Vehicle initial position in the route frame. This must match the veh_x, veh_y values.
+# Units: m
+float64 veh_downtrack
+
+# Vehicle initial logitudinal velocity 
+# Units: m/s
+float64 veh_logitudinal_velocity
+
+# Vehicle initial lane id
+string veh_lane_id
+
+
 ---
 
 #response
diff --git a/cav_srvs/srv/SetActiveRoute.srv b/cav_srvs/srv/SetActiveRoute.srv
index b5db40a1..41f8a665 100644
--- a/cav_srvs/srv/SetActiveRoute.srv
+++ b/cav_srvs/srv/SetActiveRoute.srv
@@ -9,8 +9,19 @@
 #
 
 # Request
+
+# Enumeration values for the method being used to provide the route destination points
+uint8 choice
+
+uint8 ROUTE_ID=0
+uint8 DESTINATION_POINTS_ARRAY=1
+
 # The id of the route to select
 string routeID
+
+# The array of destination points to be used for route generation 
+cav_msgs/Position3D[] destination_points
+
 ---
 # Response
 # An enumeration representing a service execution error as defined in the route design document.