Container of generic callback functions

I'm trying to figure out a way to hold multiple callback functions with different signatures.

Concretely, say I have structs accel_t and gyro_t which will be the arguments to two different callback functions void cb1(const accel_t &msg) and void cb2(const gyro_t &msg), I will then want to pass cb1 and cb2 to a subscribe() function for it to be added to some form of a container (say std::list or std::vector).

I'm imagining I have a callback function defined in my body like this:

void cb1(const accel_t &msg)
{
/**do stuff*/
}

My subscribe function will look like this:

myclass.subscribe<accel_t>(cb1);

What would be the best way to implement this ?