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I think I found an answer. I need an independent package for it. It cannot co-exist with another msg folder or srv folder. When I created a new package and created the msg folder and file. It worked and I was able to publish and subscribe to Point[]. I also found another solution that is to use "geometry_msgs/Posearr" message. But in that case orientation has to be wasted out.

Could anyone tell me, if my understanding is correct?