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As a quick comment: if "the node" hasn't been written with this in mind, then the answer would be: you can't.

Of course, I'm assuming here that "the same node" means: "with a single running process". If instead you meant: with multiple running instances of the same node type, then you should be able to start as many as you need in separate namespaces and have each of them subscribe to the appropriate topics.

Depending on how many resources the node uses / requires (especially: GPU resources here as you mention CUDA), you should be able to start multiple. But that really depends on how "the node" has been written.