code: def lidar_callback(sensor_data, sensor_queue, sensor_name):
      sensor_pc_local = np.frombuffer(
          sensor_data.raw_data,
          dtype=np.dtype(
              [
                  ("x", np.float32),
                  ("y", np.float32),
                  ("z", np.float32),
                  ("CosAngle", np.float32),
                  ("ObjIdx", np.uint32),
                  ("ObjTag", np.uint32),
              ]
          ),
      )
      sensor_transf = sensor_data.transform
      sensor_queue.put(
          (
              sensor_data.frame,
              sensor_name,
              sensor_pc_local,
              sensor_transf,
          )
      )
  
imports: import glob
  import os
  import sys
  import numpy
  from queue import Queue
  from queue import Empty
  import carla
label_desc: Use image node_id 2 for calling a global function with example usage: lidar_callback(sensor_data, sensor_queue, sensor_name) without return types