def METHOD_NAME(self, rgb_data, depth_data):
    """
    Callback that process the input data and publishes to the corresponding topics
    :param rgb_data: input image message
    :type rgb_data: sensor_msgs.msg.Image
    :param depth_data: input depth image message
    :type depth_data: sensor_msgs.msg.Image
    """
    # Convert sensor_msgs.msg.Image into OpenDR Image and preprocess
    rgb_image = self.bridge.from_ros_image(rgb_data, encoding='bgr8')
    depth_data.encoding = 'mono16'
    depth_image = self.bridge.from_ros_image_to_depth(depth_data, encoding='mono16')
    img = self.preprocess(rgb_image, depth_image)
    # Run gesture recognition
    gesture_class = self.gesture_learner.infer(img)
    #  Publish results
    ros_gesture = self.bridge.from_category_to_rosclass(gesture_class, self.get_clock().now().to_msg())
    self.gesture_publisher.publish(ros_gesture)