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I think that you'll find what you want to do is already implemented. That's exactly what the nodelet manager does. The ability to instantiate nodelets

If you want to inject a nodelet into a nodelet manager at runtime it uses a service call based interface to do so. You can just use the same service calls as the nodelet launchers to inject nodelets at runtime into an existing nodelet manager.

I think that you'll find what you want to do is already implemented. That's exactly what the nodelet manager does. The ability to instantiate nodelets is handled at a lower level by pluginlib and under that class_loader.

If you want to inject a nodelet into a nodelet manager at runtime it uses a service call based interface to do so. You can just use the same service calls as the nodelet launchers to inject nodelets at runtime into an existing nodelet manager.