ROS deliver argument to callback function in subscribers C++/Python

Just a memo.

Reference

How to deliver arguments to a callback function? - ROS Answers: Open Source Q&A Forum
Passing an argument to a subscriber callback [closed] - ROS Answers: Open Source Q&A Forum

Code Example cpp

// in callback
void chatterCallback(const sensor_msgs::Imu::ConstPtr& msg, boost::numeric::ublas::vector<double>& pose)
{
  ROS_INFO("Imu Seq: [%d]", msg->header.seq);
  ROS_INFO("Imu Orientation x: [%f], y: [%f], z: [%f], w: [%f]", msg->orientation.x,msg->orientation.y,msg->orientation.z,msg->orientation.w); 
  pose(0) += 0.1;
  ROS_INFO("Pose test: [%f]", pose(0));
  
}

// in main()
  // init pose with 0  
  using namespace boost::numeric::ublas;

  vector<double> pose(3);
  ros::Subscriber sub = n.subscribe<sensor_msgs::Imu>("imu/data", 1000, boost::bind(chatterCallback, _1, pose));

Python Example

In python, the code become more simpler:

def callback(data, args): 
  dict_1 = args[0]
  dict_2 = args[1]
... 
sub = rospy.Subscriber("text", String, callback, (dict_1, dict_2))

Passing arguments to callback in Python - ROS Answers: Open Source Q&A Forum

Remember python is always give argument to function with a pointer of container.
By using adequate function, it is able to change arguments from callback function.