def METHOD_NAME(self):
    navigation_goals = rospy.get_param("/script_server/base", {})
    markerarray = MarkerArray()
    i=0
    for name, pose in list(navigation_goals.items()):
        # check if pose is valid
        if len(pose) != 3:
            continue
        # arrow
        marker_arrow = Marker()
        marker_arrow.header.stamp = rospy.Time.now()
        marker_arrow.header.frame_id = "map"
        marker_arrow.ns = "/"+name
        marker_arrow.id = i
        marker_arrow.type = Marker.ARROW
        marker_arrow.action = Marker.ADD
        marker_arrow.scale.x = 1.0
        marker_arrow.scale.y = 0.1
        marker_arrow.scale.z = 0.1
        marker_arrow.color.r = 0.0
        marker_arrow.color.g = 0.0
        marker_arrow.color.b = 1.0
        marker_arrow.color.a = 1.0
        marker_arrow.pose.position.x = pose[0]
        marker_arrow.pose.position.y = pose[1]
        marker_arrow.pose.position.z = 0.2
        quaternion = tf.transformations.quaternion_from_euler(0, 0, pose[2])
        marker_arrow.pose.orientation.x = quaternion[0]
        marker_arrow.pose.orientation.y = quaternion[1]
        marker_arrow.pose.orientation.z = quaternion[2]
        marker_arrow.pose.orientation.w = quaternion[3]
        markerarray.markers.append(marker_arrow)
        # text
        marker_text = Marker()
        marker_text.header.stamp = rospy.Time.now()
        marker_text.header.frame_id = "map"
        marker_text.ns = "/"+name
        marker_text.id = i + 1000000
        marker_text.type = Marker.TEXT_VIEW_FACING
        marker_text.action = Marker.ADD
        marker_text.scale.z = self.text_size
        marker_text.color.r = 0.0
        marker_text.color.g = 0.0
        marker_text.color.b = 1.0
        marker_text.color.a = 1.0
        marker_text.pose.position.x = pose[0]
        marker_text.pose.position.y = pose[1] + 0.2
        marker_text.pose.position.z = 0.2
        quaternion = tf.transformations.quaternion_from_euler(0, 0, pose[2])
        marker_text.pose.orientation.x = quaternion[0]
        marker_text.pose.orientation.y = quaternion[1]
        marker_text.pose.orientation.z = quaternion[2]
        marker_text.pose.orientation.w = quaternion[3]
        marker_text.text = name
        markerarray.markers.append(marker_text)
        i = i + 1
    self.pubGoals.publish(markerarray)