During "ROS Node Unit Testing" and "ROS Node Integration Testing" I would like to inject dependencies of ROS nodes on library level C++/Python classes explicitly (e.g. to replace real sensors classes with fake sensor classes, replace real actuators with fake actuator classes, etc.).

Are there any dependency injection patterns/techniques in the ROS Node Level?

(In the "Library Unit Test Level" the dependency injection patterns/techniques are quite clear. I am interested in dependency injection patterns in the "ROS Node Level" only.)