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from genpy.dynamic import generate_dynamic
msgs = generate_dynamic('pkg/Msg', 'string data\n')

Here msgs is a dictionary whose keys are message type names and values are classes that can be used for serialization.

It is possible to pass secondary definitions for dependencies of pkg/Msg at the same time. They need to be delimited by a line of 80 = characters, then a line that is written MSG: pkg/Dep, then the fields.