def METHOD_NAME(self):
    """
    Publish a point message with the current LLA computed from an odom and absodom message.
    """
    _, _, lla = self.enu(self.enu_pos)
    lla_msg = PointStamped()
    lla_msg.header.frame_id = "lla"
    lla_msg.header.stamp = self.stamp
    lla_msg.point = numpy_to_point(lla)
    self.lla_pub.publish(lla_msg)