async def METHOD_NAME(self):
    totems = []
    for i in range(4):
        while True:
            self.send_feedback(f"Click on totem {i + 1} in rviz")
            point = await self.rviz_point.get_next_message()
            if point.header.frame_id != "enu":
                self.send_feedback(
                    "Point is not in ENU.\
                     Please switch rviz frame to ENU or tell kevin to support other frames.",
                )
                continue
            break
        self.send_feedback(f"Received point for totem {i + 1}")
        point = rosmsg_to_numpy(point.point)
        point[2] = 0.0
        totems.append(np.array(point))
    # Create list of gates halfway between each pair of totems
    gates = []
    for i in range(3):
        gates.append((totems[i] + totems[i + 1]) / 2.0)
    return gates