How can I dynamically add invokers once the controller, CouchDB, Elasticsearch, and other components are ready?

I deploy OpenWhisk invokers on a slave host and other components on a master host using Ansible for distributed deployment.

Once the environment is set up, I want to add a new invoker.

Can I do this manually(Skipping Ansible is preferable for me because our use case requires performing this directly on the slave.)? For example, 1) run the invoker on a new machine, and 2) register it with the controller.

I'm a bit confused about how to go about this process.

Start by reviewing the Ansible distributed-deployment setup and the controller/invoker registration path described in the issue. Determine whether an invoker can be started on a new slave and registered without Ansible; done means a documented procedure or a clear statement that manual registration is unsupported.

Written by the indexing model from the issue text.