There is a loose consensus, but the boundary conditions are so poorly defined as to not mean much.
NASA covers the consensus in a single sentence.
Scientific Consensus | Facts – Climate Change: Vital Signs of the Planet
What is missing is any mention of CO2, or how Human activity caused the climate warming trend.
Almost anyone with a science background would agree with that statement, as it could easily include
Human error/fraud in representing the global temperature, as a Human activity.
The debate is not weather CO2 is a greenhouse gas, IT IS!, but how sensitive the climate is to added CO2.
Since the end of the 1800's, Scientists have known that Earth is warmer than a gasless rock would be, ~33C warmer.
This 33C is based on an energy imbalance of 150 Wm-2, so the long term fully equalized ratio between Energy imbalance in Wm-2 and temperature,
is .22C per Wm-2. This is somewhat lower than the IPCC .3 C per Wm-2 forcing , and much lower than Hansen's equalized .75 C per Wm-2.