async def METHOD_NAME(cls):
    parser = ThrowingArgumentParser(
        description="Dock",
        usage="""Default parameters: \'runtask Docking
                                     \'""",
    )
    parser.add_argument("-t", "--time", type=int, default=-1)
    cls.parser = parser
    cls.bboxsub = cls.nh.subscribe("/bbox_pub", ObjectsInImage)
    await cls.bboxsub.METHOD_NAME()
    cls.camera_lidar_tf = cls.nh.get_service_client(
        "/camera_to_lidar/front_right_cam",
        CameraToLidarTransform,
    )