Thanks @dirk-thomas. I was wondering how composition would support runtime polymorphism (like those supported by pcl_nodelets in pcl_ros) if all initialization were done at the constructor , instead of the the virtual onInit() function given in the nodelets. --- [Visit Topic](https://discourse.ros.org/t/ros2-composition/2469/5) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: