def METHOD_NAME(self, *args):
    """
    Checks to see if an alarm needs to be raised. Raises either an alarm describing
    that state estimation is not available (if the sub was just started) or
    that a significant amount of state estimation was lost since the sub was started.
    """
    self.check_count += 1
    if not self._killed and self.need_kill():
        if self.last_position is None:
            if self.check_count < 10:  # Probably just haven't received odom yet
                pass
            else:  # Odom is probably not publishing
                self._killed = True
                self.ab.raise_alarm(
                    problem_description="STATE ESTIMATION NOT AVAILABLE: KILLING SUB",
                    severity=5,
                )
                rospy.logerr("STATE ESTIMATION NOT AVAILABLE: KILLING SUB")
        else:
            self._killed = True
            self.ab.raise_alarm(
                problem_description="STATE ESTIMATION LOSS: KILLING SUB",
                severity=5,
            )
            rospy.logerr("STATE ESTIMATION LOSS: KILLING SUB")