def METHOD_NAME(self) -> None:
    """
    Use the mapper to find the individual thrusts needed to achieve the current body wrench.
    If killed, publish 0 to all thrusters just to be safe.
    """
    commands = [Command() for i in range(len(self.publishers))]
    if not self.kill:
        thrusts = self.thruster_map.wrench_to_thrusts(self.wrench)
        if len(thrusts) != len(self.publishers):
            rospy.logfatal("Number of thrusts does not equal number of publishers")
            return
        for i in range(len(self.publishers)):
            commands[i].setpoint = thrusts[i]
    if not self.is_vrx and not self.is_sim:
        for i in range(len(self.publishers)):
            self.joint_state_msg.effort[i] = commands[i].setpoint
            self.publishers[i].publish(commands[i])
        self.joint_state_pub.publish(self.joint_state_msg)
    else:
        for i in range(len(self.publishers)):
            self.publishers[i].publish(commands[i].setpoint)