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How to define new topic in UWSIM?

I want to add a topic through which two vehicles can communicate with each other. Currently, the vehicles communicate to ROS and vice-versa. I want the vehicles to communicate with each other. I tried to create my own example code and put it along other examples present, but I was not able to compile it. I just want to pass timestamp from one vehicle to another. Can someone please tell me where should I start? I saw timestamp information is already included in standard message header. But I don’t know where to define my topic. Should it be in RosInterface.cpp? And how do I add my own cpp code for testing?