We report the results of multifrequency high-magnetic-field electron-spin resonance (ESR) measurements on the highly frustrated antiferromagnet Ba2CoTeO6. This compound is magnetically composed of two subsystems A and B, which are described as a spin-1/2 triangular-lattice Heisenberg antiferromagnet and a honeycomb-lattice J1-J2 Ising antiferromagnet, respectively. Ba2CoTeO6 undergoes successive magnetic phase transitions at TN1=12.0 K and TN2=3.0 K. For a magnetic field H parallel to the c axis, subsystem B exhibits successive metamagnetic transitions with magnetization plateaus at one-third and one-half of the saturation magnetization. Below TN2, we observed collective ESR modes for Hc, which are characteristic of a triangular-lattice Heisenberg antiferromagnet with weak easy-plane anisotropy. We also observed a local excitation mode, which can be assigned as a single flip of the Ising-like spin of subsystem B. From a detailed analysis of the collective and local ESR modes, combined with the magnetization process, we determined the magnetic parameters of subsystems A and B, and confirmed that the two subsystems are almost decoupled.