Go1 Deployment camera code

[guyostfeld]

Thank you for open sourcing the code, much appreciated.
I am trying to deploy this on the Go1 and understand the camera height map code.
it seems to me that the height map part is not implemented on the version that is here. as when I am looking at the a1_real.py file the function _get_heights is a placeholder:

def _get_heights(self):
        """ TODO: get estimated terrain heights around the robot base """
        # currently return a zero tensor with valid size
        return torch.zeros(self.num_envs, 187, device= self.model_device, requires_grad= False)

also after reading some more, the camera sends the ros topic and thic code recieved it using this function _get_forward_depth_obs
but it is never called.

Am I missing something? could you share the complete code for generating the height map on the actual robot?
thanks.