async def METHOD_NAME(cls):
    # Store pose of shooter for later
    cls.base_link_to_shooter = -(
        await cls.tf_listener.get_transform("base_link", "shooter")
    )._p
    cls.base_link_to_shooter[2] = 0.0
    # Subscribe to pose
    cls.target_pose_sub = cls.nh.subscribe(
        "/detect_deliver_target_detector/pose",
        PoseStamped,
    )
    await cls.target_pose_sub.METHOD_NAME()