making simple missile firing thing

I have an object hierarchy, made up from an empty, and objects (lamps, halo meshes, solid meshes) parented to it. I have a ship animated with animation nodes, and I’m searching an easy way to duplicate the hierarchy and fire it as missile from the ship. It’s pretty easy in game engine, with the ‘Add object’ actuator, which copies all the children of the object on the right place, but I want to build a similar solution in animation (either with nodes or with direct python)