def METHOD_NAME(self, data):
    image_arr = self.bridge.imgmsg_to_cv2(data)
    self.range_image = ((np.clip(image_arr.reshape((64, 64, 1)), 0, 15) / 15.) * 255).astype(np.uint8)
    observation = {'depth_cam': np.copy(self.range_image), 'moving_target': np.array([5, 0, 0])}
    action = self.end_to_end_planner.infer(observation, deterministic=True)[0]
    self.publish_poses(action)