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The vis_manager_ has the addPanelByName function, see:
https://github.com/ros-visualization/rviz/blob/115e9afe1b0a80e08cb7b2a7a3a97988e81bac94/src/rviz/visualization_frame.cpp#L1214-L1241
You'd have to figure out how to get the parameters, maybe look to the openNewPanelDialog function and the NewObjectDialog class for those:
https://github.com/ros-visualization/rviz/blob/115e9afe1b0a80e08cb7b2a7a3a97988e81bac94/src/rviz/visualization_frame.cpp#L572-L591
https://github.com/ros-visualization/rviz/blob/0d423d6249a39f7f3ddd591007952c6dc940b6ac/src/rviz/new_object_dialog.cpp#L52
Sorry I couldn't be more specific, but I've never tried to do what you've described. I hope you find a way that works for sure.
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