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Custom messages can contain other (custom and predefined) messages. That's a required and widely used feature in ROS.

Example:

Message Object in package foo:

string name
geometry_msgs/PoseStamped pose

Message ObjectList:

 foo/Object[] objects

Custom messages can contain other (custom and predefined) messages. That's a required and widely used feature in ROS.

Example:

Message ObjectMyCustomMessage in package foo:

string name
geometry_msgs/PoseStamped pose

Message ObjectList:

 foo/Object[] foo/MyCustomMessage[] objects