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Replying to your question and subsequent comments: A custom message type which includes a sensor_msgs/image field will do everything you ask for apart from being visible in rqt_bag. An example .msg file for this would be

# my custom message type
# embedded image message
sensor_msgs/image myImage
# the extra fields needed
string name
int8 number

rqt_bag will only display sensor_msgs/image messages as images, it will not show any custom message types unless you make a plugin to extend its functionality. This is also true if you make a custom message type that has the same structure as sensor_msgs/image ROS still considers that a different type of message.

If you really need to view these images in rqt_bag then you could publish a normal sensor_msgs/image message at the same time as your custom message. This way you could view them in rqt_bag and use the custom message in the other nodes that use that information.