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The trick is to make empty packages with the same name as the packages of the message that you need, and then add the custom message definition to these packages. So in my case I made a package 'pximu' and added the custom message definition for AttitudeData and RawIMUData to it. Then I made a 'libks' package and added the custom message definition for ImageSet to it. After compiling I could read those messages with 'rosbag play'.

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