How to create a new ros topic for specific messages

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Thanks for your answer. However, my point is to publish/subscribe new message types. Summing up, a new topic where I can use the messages. Hector_quadrotor topics have their own messages and even inserting my new messages correctly in hector_uav_msgs, I haven't figured out how to pub/sub them yet

I have just figured out how to do what I was looking for using ros service idea. So thanks again, Gary!