def METHOD_NAME(self):
    while True:
        info = "FOUND: "
        for buoy in self.buoys:
            res = yield self.sub.vision_proxies.buoy.get_pose(target=buoy)
            if res.found:
                self.buoys[buoy].update_position(
                    rosmsg_to_numpy(res.pose.pose.position)
                )
            if self.buoys[buoy].position is not None:
                info += buoy + " "
            yield self.sub.nh.sleep(0.5)  # Throttle service calls
        self.print_info(info)