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CosmJS registers all standard Cosmos SDK message types by default. If your chain has custom modules with their own message types, you need to register them.

Registering Custom Types

Amino Support for Custom Types

If your custom messages also need Amino signing (e.g. for Ledger support), you need to register Amino converters alongside the Protobuf registry:
Reuse the registry built in the previous section (or create a fresh Registry(defaultRegistryTypes) and register your custom protobuf type on it) when passing this to connectWithSigner.