def METHOD_NAME(self, srv):
    self.bin_type = srv.target_name
    if self.last_image is not None:
        response = self.find_single_bin(np.copy(self.last_image), srv.target_name)
        if response is False or response is None:
            rospy.loginfo("did not find")
            resp = VisionRequest2DResponse(
                header=mil_ros_tools.make_header(frame="/down"),
                found=False,
            )
        else:
            # Fill in
            center, radius = response
            resp = VisionRequest2DResponse(
                header=Header(stamp=self.last_image_time, frame_id="/down"),
                pose=Pose2D(x=center[0], y=center[1], theta=radius),
                max_x=self.last_image.shape[0],
                max_y=self.last_image.shape[1],
                camera_info=self.image_sub.camera_info,
                found=True,
            )
        return resp