def METHOD_NAME(self, data):
    """
    Callback that processes the input data and publishes to the corresponding topics.
    :param data: input message
    :type data: sensor_msgs.msg.Image
    """
    # Convert sensor_msgs.msg.Image into OpenDR Image
    point_cloud = self.bridge.from_ros_point_cloud(data)
    detection_boxes = self.detector.infer(point_cloud)
    # Convert detected boxes to ROS type and publish
    if self.detection_publisher is not None:
        ros_boxes = self.bridge.to_ros_boxes_3d(detection_boxes)
        self.detection_publisher.publish(ros_boxes)
        self.get_logger().info("Published " + str(len(detection_boxes)) + " detection boxes")
    if self.tracking_id_publisher is not None:
        tracking_boxes = self.learner.infer(detection_boxes)
        ids = [tracking_box.id for tracking_box in tracking_boxes]
        ros_ids = Int32MultiArray()
        ros_ids.data = ids
        self.tracking_id_publisher.publish(ros_ids)
        self.get_logger().info("Published " + str(len(ids)) + " tracking ids")