Remove the location argument when calling start()

LibCarla/source/carla/client/WalkerAIController.cpp

@@ -14,7 +14,7 @@ namespace client {
   WalkerAIController::WalkerAIController(ActorInitializer init)
     : Actor(std::move(init)) {}
 
-  void WalkerAIController::Start(carla::geom::Location location) {
+  void WalkerAIController::Start() {
     GetEpisode().Lock()->RegisterAIController(*this);
 
     // add the walker in the Recast & Detour
@@ -22,7 +22,7 @@ namespace client {
     if (walker != nullptr) {
       auto nav = GetEpisode().Lock()->GetNavigation();
       if (nav != nullptr) {
-        nav->AddWalker(walker->GetId(), location);
+        nav->AddWalker(walker->GetId(), walker->GetLocation());
       }
     }
   }

LibCarla/source/carla/client/WalkerAIController.h

@@ -18,7 +18,7 @@ namespace client {
 
     explicit WalkerAIController(ActorInitializer init);
 
-    void Start(carla::geom::Location location);
+    void Start();
 
     void Stop();
 

LibCarla/source/carla/nav/Navigation.cpp

@@ -356,8 +356,8 @@ namespace nav {
     // force single thread running this
     std::lock_guard<std::mutex> lock(_mutex);
 
-    // from Unreal coordinates
-    float PointFrom[3] = { from.x, from.z, from.y };
+    // from Unreal coordinates (subtract half height to move pivot from center (unreal) to bottom (recast))
+    float PointFrom[3] = { from.x, from.z - (AGENT_HEIGHT / 2.0f), from.y };
     // add walker
     int index = _crowd->addAgent(PointFrom, &params);
     if (index == -1) {

PythonAPI/examples/spawn_npc.py

@@ -172,11 +172,10 @@ def main():
         for i in range(0, len(all_id), 2):
             # index in the walkers_list
             index = int(i / 2)
-            # set start position of walker
-            all_actors[i].start(walkers_list[index]["trans"].location)
+            # start walker
+            all_actors[i].start()
             # set walk to random point
-            target = world.get_random_location_from_navigation()
-            all_actors[i].go_to_location(target)
+            all_actors[i].go_to_location(world.get_random_location_from_navigation())
             # random max speed
             all_actors[i].set_max_speed(1 + random.random())    # max speed between 1 and 2 (default is 1.4 m/s)