def METHOD_NAME(self):
    sg = SpoofGenerator()
    empty = PerceptionObjectArray()
    stc = PerceptionObjectArray()
    stc_shooter = PerceptionObjectArray()
    stc_obj = PerceptionObject()
    stc_obj.name = "scan_the_code"
    shooter_obj = PerceptionObject()
    shooter_obj.name = "shooter"
    empty.objects = []
    stc.objects = [stc_obj]
    stc_shooter.objects = [stc_obj, shooter_obj]
    empty_resp = ObjectDBQueryResponse()
    stc_resp = ObjectDBQueryResponse()
    stc_resp.objects = [stc_obj]
    stc_resp.found = True
    self.service = sg.spoof_service(
        "/database/requests",
        ObjectDBQuery,
        [empty_resp],
    )
    self.service_missing = sg.spoof_service(
        "/database/requests",
        ObjectDBQuery,
        [stc_resp, empty_resp, empty_resp, stc_resp],
    )
    self.pub_base_mission = sg.spoof_publisher(
        "/database/objects",
        PerceptionObjectArray,
        [empty, stc],
        [5, 1000],
    )
    self.pub_normal_1 = sg.spoof_publisher(
        "/database/objects",
        PerceptionObjectArray,
        [empty, stc, stc_shooter],
        [5, 5, 100],
    )
    self.pub_normal_2 = sg.spoof_publisher(
        "/database/objects",
        PerceptionObjectArray,
        [empty, stc, stc_shooter],
        [5, 5, 100],
    )
    self.pub_fail_mission = sg.spoof_publisher(
        "/database/objects",
        PerceptionObjectArray,
        [],
        [],
    )
    self.pub_missing_objects = sg.spoof_publisher(
        "/database/objects",
        PerceptionObjectArray,
        [stc, empty, stc],
        [4, 10, 100],
    )
    self.timeout = sg.spoof_publisher(
        "/database/objects",
        PerceptionObjectArray,
        [],
        [],
    )
    self.obj_appear = sg.spoof_publisher(
        "/database/objects",
        PerceptionObjectArray,
        [empty, stc],
        [3, 10000],
    )