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I found the answer, here it is:

#include <custom_msgs/gnssSample.h>

and for callBack:

 void gnssCallback(const custom_msgs::gnssSample::ConstPtr& msg) {

also don't forget to add "custom_msgs" to CMakeLists.txt of your package:

find_package(catkin REQUIRED COMPONENTS
.
.
custom_msgs

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