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Of course. You can do that. First I would reccomend you to follow ROS tutorial. Also, you can use your own message types. Follow ROS message tutorials.

Of course. You can do that. First I would reccomend you to follow ROS tutorial. Also, you can use your own message types. Follow ROS message tutorials.

You can create your own topics using ROS messages. Also, you can create different topics using same message type. If you need, you can create your own message type as well.

You always subscribe topics published by a subscriber. Not messages. To do that,

You should create a publisher that publishes topics like chatter.
Then, you should create a subscriber that can subscribe that specific topic that is published by the publisher.

whenever the subscriber receives topics, your callback function in the subscriber node is called. Then you can use those data.

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