Sorry for the absolute beginner on ecto questions (I have just read the doc and run the hello world):

ecto_ros claims to provide seamlessly integration between ros and ecto: you must create a cell to wrap any publisher/subscriber. But you can only do for common ROS message types. Am I right?

If so, how hard is to create bindings for custom messages?

The idea I have in mind is to replace a bunch of nodelets by ecto nodes, but I want to keep all topics that now glue the nodelets between them and with the outside (ros) world. So it would imply to have a couple tendril-topic for any topic I have now.

All use cases I have seen of ecto are complex processing pipelines more or less self-contained, with limited pub/sub interface, so... I wonder if my idea is just completely stupid.

Thanks!