Expose callback groups - backport to iron

[adityapande-1995]

This PR backports https://github.com/ros-perception/image_common/pull/274 to ros iron. Yet to check for ABI compatibility using a https://lvc.github.io/abi-compliance-checker/

[ahcorde]

@adityapande-1995 is this ready for a review?

[adityapande-1995]

Open for review, I have to run the ABI checker to verify compatibility.

[ahcorde]

• Linux
• Linux-aarch64
• Windows

[adityapande-1995]