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If your callbacks are member functions of a class they can write the received data into the class, in example (pseudocode):

void Robot::LaserCallback(const sensor_msgs::LaserScan::ConstPtr& msg){

for ( range_data in msg) {
    this->rangedata = msg->ranges
    }
}

If your callbacks are you just want to get the value, declare the callback as member functions function of a class they class. Then, you can write the received data into the that class, in example (pseudocode):

void Robot::LaserCallback(const sensor_msgs::LaserScan::ConstPtr& msg){

for ( range_data in msg) {
    this->rangedata = msg->ranges
    }
}