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Well, point is no built-in data type (and not a relative one, apparently).

Thus need to specify it in the message description as package/Message. You are most probably referring to geometry_msgs/Point.

In fact, even though you can have relative names (see citation below), I'd recommend to always use the full package/Message format...

When embedding other Message descriptions, the type name may be relative (e.g. "Point32") if it is in the same package; otherwise it must be the full Message type (e.g. "std_msgs/String")