diff --git a/include/mrs_lib/impl/timer.hpp b/include/mrs_lib/impl/timer.hpp
index ca383561..0708ff92 100644
--- a/include/mrs_lib/impl/timer.hpp
+++ b/include/mrs_lib/impl/timer.hpp
@@ -37,6 +37,7 @@ class ThreadTimer::Impl {
   void start();
   void stop();
   void setPeriod(const ros::Duration& duration, const bool reset = true);
+  void setCallback(const std::function<void(const ros::TimerEvent&)>& callback);
 
   friend class ThreadTimer;
 
diff --git a/include/mrs_lib/timer.h b/include/mrs_lib/timer.h
index a782666e..3b06b086 100644
--- a/include/mrs_lib/timer.h
+++ b/include/mrs_lib/timer.h
@@ -43,6 +43,15 @@ namespace mrs_lib
      */
     virtual void setPeriod(const ros::Duration& duration, const bool reset = true) = 0;
 
+    /**
+     * @brief change the callback method 
+     *
+     * Usable e.g. for running thread with a specific parameter if you bind it using std::bind
+     *
+     * @param callback          callback method to be called.
+     */
+    virtual void setCallback(const std::function<void(const ros::TimerEvent&)>& callback) = 0;
+
     /**
      * @brief returns true if callbacks should be called
      *
@@ -208,6 +217,15 @@ namespace mrs_lib
      * @param reset    ignored in this implementation.
      */
     virtual void setPeriod(const ros::Duration& duration, const bool reset = true) override;
+    
+    /**
+     * @brief change the callback method
+     *
+     * Usable e.g. for running thread with a specific parameter if you bind it using std::bind
+     *
+     * @param callback          callback method to be called.
+     */
+    virtual void setCallback(const std::function<void(const ros::TimerEvent&)>& callback) override;
 
     /**
      * @brief returns true if callbacks should be called
diff --git a/src/timer/timer.cpp b/src/timer/timer.cpp
index 4d1889f0..6f774adb 100644
--- a/src/timer/timer.cpp
+++ b/src/timer/timer.cpp
@@ -93,6 +93,16 @@ void ThreadTimer::setPeriod(const ros::Duration& duration, [[maybe_unused]] cons
 
 //}
 
+/* ThreadTimer::setCallback() //{ */
+
+void ThreadTimer::setCallback(const std::function<void(const ros::TimerEvent&)>& callback) {
+  if (impl_) {
+    impl_->setCallback(callback);
+  }
+}
+
+//}
+
 /* ThreadTimer::running() //{ */
 
 bool ThreadTimer::running()
@@ -159,6 +169,12 @@ void ThreadTimer::Impl::setPeriod(const ros::Duration& duration, [[maybe_unused]
     this->oneshot_  = true;
 }
 
+void ThreadTimer::Impl::setCallback(const std::function<void(const ros::TimerEvent&)>& callback){
+  std::scoped_lock lock(mutex_state_);
+
+  callback_ = callback;
+}
+
 //}
 
 /* ThreadTimer::breakableSleep() method //{ */