Create layer from ArcGIS REST URL in ArcObjects using C#

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I am trying to create a layer and add it into a MapControl from ArcGIS REST URL. For example I use the following URL http://sampleserver6.arcgisonline.com/arcgis/rest/services/EmergencyFacilities/MapServer

I can do this with the help of this post

However, the code in the post seems to derive a SOAP url from the REST url. So I have few questions regarding this.

  1. Can I create the layer without deriving a SOAP url from the REST url.
  2. Does it always guaranteed that the SOAP url can be derived in this way. For example If the service URL uses the "URL mapping", how will this method work? For instance how can I work with this URL https://maps.stats.govt.nz/wss/service/arcgis1/guest

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