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I recommend working through the custom message publisher and subscriber tutorials for python first. The .hpp file you refer to is a C++ header file so it's not what you need if your writing a python script.

You'll need to find the package which defines the message type put it in your workspace if it isn't already and add a dependency to it in. Then you'll need to import it into your script with a line like:

from <package_name>.msg import <message_type_name>

You'll need to look through your packages for a file at a path that looks like:

/.../<package_name>/msgs/scan_point_2018.msg

Hope this helps.