How to load a nodelet into a manager from CPP

edit

Hi Jan.

I am also trying to do this. I can call the service in cpp code. The problem is I cannot add the parameters. Anyway, I can tell you how I did it.

ros::init(argc, argv, "tracker"); // Initialize ROS coms
ros::NodeHandle* n = (ros::NodeHandle*) new ros::NodeHandle("~"); //The node handle

ros::ServiceClient client = n->serviceClient<nodelet::NodeletLoad>("/nodelet_manager/load_nodelet"); //this is my service name

nodelet::NodeletLoad srv;
srv.request.name = "name1";
srv.request.type = "race_3d_object_tracking/race_3d_object_tracking_nodelet"; //this is my nodelet

//This is the part that does not work. But the rest does. Meaning I can call the service and it runs, but I cannot change the parameters
//srv.request.remap_source_args.push_back("name");
//srv.request.remap_target_args.push_back("new_name");                                                                                                  
//srv.request.my_argv.push_back("point_cloud_in:=/camera/depth_registered/points");


if (client.call(srv))
{   
    ROS_INFO("Service response ok");
}   
else
{   
    ROS_ERROR("Failed to call service");
}

If you can find how to insert params please tell me.

Regards

Miguel