diff --git a/launch_ros/composition_by_event_launch.py b/launch_ros/composition_by_event_launch.py
new file mode 100644
index 000000000..af73f87db
--- /dev/null
+++ b/launch_ros/composition_by_event_launch.py
@@ -0,0 +1,72 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch a talker and a listener in the same process."""
+
+import os
+import sys
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..'))  # noqa
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', '..', 'launch'))  # noqa
+
+from launch import LaunchDescription
+from launch import LaunchIntrospector
+from launch import LaunchService
+
+from launch_ros import get_default_launch_description
+import launch_ros.actions
+import launch_ros.conditions
+import launch_ros.descriptions
+import launch_ros.substitutions
+
+
+def main(argv=sys.argv[1:]):
+    """Main."""
+    ld = LaunchDescription([])
+
+    container_action = launch_ros.actions.ComposableNodeContainer(
+        package='rclcpp_components', container_executable='rclcpp_node_container', output='screen',
+        name='my_container_process')
+    ld.add_action(container_action)
+
+    ld.add_action(launch.actions.RegisterEventHandler(launch.event_handlers.OnProcessStart(
+        target_action=container_action,
+        on_start=[
+            launch_ros.actions.LoadComposableNodes(
+                nodes=[
+                    launch_ros.descriptions.ComposableNode(
+                        package_name='composition', node_plugin_name='talker',
+                        name='my_talker'),
+                    launch_ros.descriptions.ComposableNode(
+                        package_name='composition', node_plugin_name='listener'
+                        name='my_listener'),
+                ], target_container=container_action)
+            ]
+        )
+    ])
+
+    print('Starting introspection of launch description...\n')
+
+    print(LaunchIntrospector().format_launch_description(ld))
+
+    print('\nStarting launch of launch description...\n')
+
+    # ls = LaunchService(debug=True)
+    ls = LaunchService()
+    ls.include_launch_description(get_default_launch_description(prefix_output_with_name=False))
+    ls.include_launch_description(ld)
+    return ls.run()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/launch_ros/examples/composition_launch.py b/launch_ros/examples/composition_launch.py
new file mode 100644
index 000000000..56390c279
--- /dev/null
+++ b/launch_ros/examples/composition_launch.py
@@ -0,0 +1,62 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch a talker and a listener in the same process."""
+
+import os
+import sys
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..'))  # noqa
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', '..', 'launch'))  # noqa
+
+from launch import LaunchDescription
+from launch import LaunchIntrospector
+from launch import LaunchService
+
+from launch_ros import get_default_launch_description
+import launch_ros.actions
+import launch_ros.descriptions
+
+
+def main(argv=sys.argv[1:]):
+    """Main."""
+    ld = LaunchDescription([
+        launch_ros.actions.ComposableNodeContainer(
+            package='rclcpp_components', container_executable='rclcpp_node_container', output='screen',
+            # These are executed after the container process starts
+            composable_node_descriptions=[
+                launch_ros.descriptions.ComposableNode(
+                    package_name='composition', node_plugin_name='talker',
+                    name='my_talker'),
+                launch_ros.descriptions.ComposableNode(
+                    package_name='composition', node_plugin_name='listener'
+                    name='my_listener')
+            ]
+        )
+    ])
+
+    print('Starting introspection of launch description...\n')
+
+    print(LaunchIntrospector().format_launch_description(ld))
+
+    print('\nStarting launch of launch description...\n')
+
+    # ls = LaunchService(debug=True)
+    ls = LaunchService()
+    ls.include_launch_description(get_default_launch_description(prefix_output_with_name=False))
+    ls.include_launch_description(ld)
+    return ls.run()
+
+
+if __name__ == '__main__':
+    main()