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Hi @Champen23,

I don't have an example for messages at hand, but I do have one for services which is analogue: https://github.com/jubeira/rosjava_srv_test.

In a few words, you should create a ROS package with the messages you want to use in the same workspace just like you would do in regular ROS. Check CMakeLists here, you should add your custom message definitions there and create a msg folder.

Then, if you source rosjava_build_tools and build the workspace, your custom messages will be built for Java as well and you should be able to use them.

Let me know if you need further clarifications; I can add custom messages to that example if you need to.