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As it's said here: https://answers.ros.org/question/51474/can-i-run-a-bash-script-using-roslaunch/?answer=157051#post-id-157051 , better late than never...

Instead of python node, it's possible to add an executable script to some package like:

#!/bin/bash -eu
roslaunch "$@"

And then run it from roslaunch:

<node pkg="some_pkg" type="script_name" name="my_launch"
        respawn="true" output="screen"
        args="$(find some_pkg)/launch/nodelets.launch"/>

Here nodelets.launch contains all nodelet related stuff.

Also, there should be required parameter in nodelet manager, so it could finish on crash:

<node pkg="nodelet" type="nodelet" name="manager"
        required="true" output="screen" args="manager"/>