You still do the same thing that you would when calling a C library: you serialize your STL objects into plain C objects, pass them to the external library, and deserialize back. If you need callbacks, you make sure that they catch any exception and return an error code. It's really no different from virtually any other C++ interop.

There are a few languages that interop with C++ at a deeper level, essentially building a small part of a C++ compiler into their runtime. But they're relatively obscure - Clasp, an implementation of Common Lisp, is probably the only one that can really take an arbitrary C++ object (say, an std::vector<std::list<int>>) as an input to a Common Lisp function and work with it.