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As I believed, the current implementation does not allow this. I have raised this as an issue on github and it was confirmed (see https://github.com/ros2/rclcpp/issues/880).

So for reference, it seems the only way for now is to use compositions as in https://github.com/ros2/demos/blob/master/composition/launch/composition_demo.launch.py

There should be a possibility to add intra process communication using composition.

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