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C/C++: add server callbacks for on_un/subscribe #1175

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Job	Run time
rust	1m 56s
ROS noetic	1m 14s
ROS foxy	2m 30s
typescript	1m 17s
ROS galactic	2m 1s
ROS humble	2m 20s
ROS iron	2m 30s
ROS jazzy	2m 34s
ROS rolling	2m 29s
	18m 51s