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As far as I understand, there is no simpler way to do what you're trying to do, but I think the design patterns in the current manifestation of rosjava are very different than those used in roscpp or rospy (or even earlier versions of rosjava). I think the design decisions have made it harder to decouple message construction from a node in the way that you seem to be trying to do.

I'd suggest creating a ticket here: http://code.google.com/p/rosjava/issues/list to see if Damon can help you figure out a way to satisfy your needs for the class with the current API.