Configuring ROS msg to transmit std::vector<pcl17::PointXYZRGB>

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There's a tutorial for creating messages here: http://wiki.ros.org/ROS/Tutorials/CreatingMsgAndSrv

Well, I am segmenting a point cloud (taken from a Kinect sensor) and I am trying to publish a vector with the centroid points of each extracted cluster and another two vectors that contain the minimum and maximum points of each cluster. In every iteration I might extract different number of clusters and therefore my published vectors will have a variable size. What I could do is to try publishing the cluster clouds in a single vector, instead of publishing three vectors and then extract the centroid and max/min points on the receiving ROS node. I am quite new with ROS and PCL and that's why I need your help an advise in this matter. I went through the suggested tutorials and I am trying to understand how ros message works but I still haven't fully got it. Any help would be greatly appreciate it. :) Best, Akis