Welcome to OFL.
What size tank do you have?
and what substrate are you using?
when you say 'something to clean the waste'
do you mean food or fish poop?
if you mean fish poop then forget it mate, the only way you'll clean fish poop is doing it yourself, because the fish that do eat if poop if any, will only poop themself so you wont win,
if you mean food which is being left from your other fish, then theirs a few you could go for, but these will only leave mess as well, so the only way to solve it, is clean it yourself.
you could however have a look a pleco's but dont get a common or 1 that grows to 14-16 inches because they crap like mad,
or maybe a catfish, theirs lots of different ones. i prefer the catfish over the pleco, their nicer and less messy in my eyes.
keep us updated on what you go for mate.