diff --git a/PythonClient/manual_control.py b/PythonClient/manual_control.py
index c89c660ce..417d8c304 100755
--- a/PythonClient/manual_control.py
+++ b/PythonClient/manual_control.py
@@ -315,7 +315,6 @@ class CarlaGame(object):
             )
             self._display.blit(surface, (10, 10))
 
-
         if self._map_view is not None:
             array = self._map_view
             array = array[:, :, :3]
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
index 824adb5f9..bc2f9d7a4 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
@@ -8,8 +8,8 @@
 // Sets default values
 ALidar::ALidar()
 {
- 	// Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
-	PrimaryActorTick.bCanEverTick = true;
+  // Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
+  PrimaryActorTick.bCanEverTick = true;
 
   auto MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("CamMesh0"));
   MeshComp->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
@@ -24,12 +24,12 @@ ALidar::ALidar()
 void ALidar::Set(const FLidarDescription &LidarDescription)
 {
   Channels = LidarDescription.Channels;
-	Range = LidarDescription.Range;
-	PointsPerSecond = LidarDescription.PointsPerSecond;
-	RotationFrequency = LidarDescription.RotationFrequency;
-	UpperFovLimit = LidarDescription.UpperFovLimit;
-	LowerFovLimit = LidarDescription.LowerFovLimit;
-	ShowDebugPoints = LidarDescription.ShowDebugPoints;
+  Range = LidarDescription.Range;
+  PointsPerSecond = LidarDescription.PointsPerSecond;
+  RotationFrequency = LidarDescription.RotationFrequency;
+  UpperFovLimit = LidarDescription.UpperFovLimit;
+  LowerFovLimit = LidarDescription.LowerFovLimit;
+  ShowDebugPoints = LidarDescription.ShowDebugPoints;
   CreateLasers();
 }
 
@@ -38,45 +38,45 @@ void ALidar::CreateLasers()
   float dAngle = (UpperFovLimit - LowerFovLimit) / (Channels - 1);
 
   Lasers.Empty();
-	for(int i=0; i<Channels; i++)
-	{
-		Lasers.Emplace(i, UpperFovLimit - i * dAngle);
-	}
+  for(int i=0; i<Channels; i++)
+  {
+    Lasers.Emplace(i, UpperFovLimit - i * dAngle);
+  }
 }
 
 // Called when the game starts or when spawned
 void ALidar::BeginPlay()
 {
-	Super::BeginPlay();
+  Super::BeginPlay();
 }
 
 void ALidar::ReadPoints(float DeltaTime, FCapturedLidarSegment& LidarSegmentData)
 {
-  	int PointsToScanWithOneLaser = int(FMath::RoundHalfFromZero(PointsPerSecond * DeltaTime / float(Channels)));
+  int PointsToScanWithOneLaser = int(FMath::RoundHalfFromZero(PointsPerSecond * DeltaTime / float(Channels)));
 
-  	float AngleDistanceOfTick = RotationFrequency * 360 * DeltaTime;
-  	float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
+  float AngleDistanceOfTick = RotationFrequency * 360 * DeltaTime;
+  float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
 
-    LidarSegmentData.LidarLasersSegments.Empty();
+  LidarSegmentData.LidarLasersSegments.Empty();
 
-    auto NumOfLasers = Lasers.Num();
-    LidarSegmentData.LidarLasersSegments.AddDefaulted(NumOfLasers);
-  	for (int li=0; li<NumOfLasers; li++)
-  	{
-      auto& Laser = Lasers[li];
-      auto& LaserPoints = LidarSegmentData.LidarLasersSegments[li].Points;
-      LaserPoints.AddDefaulted(PointsToScanWithOneLaser);
-  		for (int i=0; i<PointsToScanWithOneLaser; i++)
-  		{
-  			Laser.Measure(
-          this,
-          CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * i,
-          LaserPoints[i],
-          ShowDebugPoints
-        );
-  		}
-  	}
+  auto NumOfLasers = Lasers.Num();
+  LidarSegmentData.LidarLasersSegments.AddDefaulted(NumOfLasers);
+  for (int li=0; li<NumOfLasers; li++)
+  {
+    auto& Laser = Lasers[li];
+    auto& LaserPoints = LidarSegmentData.LidarLasersSegments[li].Points;
+    LaserPoints.AddDefaulted(PointsToScanWithOneLaser);
+    for (int i=0; i<PointsToScanWithOneLaser; i++)
+    {
+      Laser.Measure(
+        this,
+        CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * i,
+        LaserPoints[i],
+        ShowDebugPoints
+      );
+    }
+  }
 
-  	CurrentHorizontalAngle = fmod(CurrentHorizontalAngle + AngleDistanceOfTick, 360.0f);
-    LidarSegmentData.HorizontalAngle = CurrentHorizontalAngle;
+  CurrentHorizontalAngle = fmod(CurrentHorizontalAngle + AngleDistanceOfTick, 360.0f);
+  LidarSegmentData.HorizontalAngle = CurrentHorizontalAngle;
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
index 9b4b1b007..58205f77d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
@@ -12,20 +12,20 @@
 UCLASS()
 class CARLA_API ALidar : public AActor
 {
-	GENERATED_BODY()
+  GENERATED_BODY()
 
 public:
-	// Sets default values for this actor's properties
-	ALidar();
+  // Sets default values for this actor's properties
+  ALidar();
 
   void Set(const FLidarDescription &LidarDescription);
 
 protected:
-	// Called when the game starts or when spawned
-	virtual void BeginPlay() override;
+  // Called when the game starts or when spawned
+  virtual void BeginPlay() override;
 
-	TArray<LidarLaser> Lasers;
-	float CurrentHorizontalAngle = 0;
+  TArray<LidarLaser> Lasers;
+  float CurrentHorizontalAngle = 0;
 
   void CreateLasers();
 
@@ -35,37 +35,37 @@ public:
   void ReadPoints(float DeltaTime, FCapturedLidarSegment& LidarSegmentData);
 
   /** Number of lasers */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	int Channels = 32;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  int Channels = 32;
 
   /** Measure distance */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float Range = 5000;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float Range = 5000;
 
   /** Points generated by all lasers per second */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float PointsPerSecond = 56000;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float PointsPerSecond = 56000;
 
   /** Lidar rotation frequency */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float RotationFrequency = 10;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float RotationFrequency = 10;
 
   /**
     Upper laser angle, counts from horizontal,
     positive values means above horizontal line
   */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float UpperFovLimit = 10;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float UpperFovLimit = 10;
 
   /**
     Lower laser angle, counts from horizontal,
     negative values means under horizontal line
   */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float LowerFovLimit = -30;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float LowerFovLimit = -30;
 
   /** wether to show debug points of laser hits in simulator */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	bool ShowDebugPoints = false;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  bool ShowDebugPoints = false;
 
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
index 803273860..9710a2f4d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
@@ -8,47 +8,47 @@
 
 int LidarLaser::GetId()
 {
-	return Id;
+  return Id;
 }
 
 bool LidarLaser::Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, bool Debug)
 {
-	FCollisionQueryParams TraceParams = FCollisionQueryParams(FName(TEXT("Laser_Trace")), true, Lidar);
-	TraceParams.bTraceComplex = true;
-	TraceParams.bReturnPhysicalMaterial = false;
+  FCollisionQueryParams TraceParams = FCollisionQueryParams(FName(TEXT("Laser_Trace")), true, Lidar);
+  TraceParams.bTraceComplex = true;
+  TraceParams.bReturnPhysicalMaterial = false;
 
-	FHitResult HitInfo(ForceInit);
+  FHitResult HitInfo(ForceInit);
 
-	FVector LidarBodyLoc = Lidar->GetActorLocation();
+  FVector LidarBodyLoc = Lidar->GetActorLocation();
   FRotator LidarBodyRot = Lidar->GetActorRotation();
-	FRotator LaserRot (VerticalAngle, HorizontalAngle, 0);  // float InPitch, float InYaw, float InRoll
+  FRotator LaserRot (VerticalAngle, HorizontalAngle, 0);  // float InPitch, float InYaw, float InRoll
   FRotator ResultRot = UKismetMathLibrary::ComposeRotators(
     LaserRot,
     LidarBodyRot
   );
-	FVector EndTrace = Lidar->Range * UKismetMathLibrary::GetForwardVector(ResultRot) + LidarBodyLoc;
+  FVector EndTrace = Lidar->Range * UKismetMathLibrary::GetForwardVector(ResultRot) + LidarBodyLoc;
 
-	Lidar->GetWorld()->LineTraceSingleByChannel(
-		HitInfo,
-		LidarBodyLoc,
-		EndTrace,
-		ECC_MAX,
-		TraceParams,
-		FCollisionResponseParams::DefaultResponseParam
-	);
+  Lidar->GetWorld()->LineTraceSingleByChannel(
+    HitInfo,
+    LidarBodyLoc,
+    EndTrace,
+    ECC_MAX,
+    TraceParams,
+    FCollisionResponseParams::DefaultResponseParam
+  );
 
-	if (HitInfo.bBlockingHit)
-	{
+  if (HitInfo.bBlockingHit)
+  {
     if (Debug)
     {
-  		DrawDebugPoint(
-  			Lidar->GetWorld(),
-  			HitInfo.ImpactPoint,
-  			10,  //size
-  			FColor(255,0,255),
-  			false,  //persistent (never goes away)
-  			0.1  //point leaves a trail on moving object
-  		);
+      DrawDebugPoint(
+        Lidar->GetWorld(),
+        HitInfo.ImpactPoint,
+        10,  //size
+        FColor(255,0,255),
+        false,  //persistent (never goes away)
+        0.1  //point leaves a trail on moving object
+      );
     }
 
     XYZ = LidarBodyLoc - HitInfo.ImpactPoint;
@@ -58,9 +58,9 @@ bool LidarLaser::Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, boo
       FVector(0, 0, 1)
     );
 
-		return true;
-	} else {
+    return true;
+  } else {
     XYZ = FVector(0, 0, 0);
-		return false;
-	}
+    return false;
+  }
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
index 511870803..6ddb842bd 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
@@ -10,17 +10,17 @@ class CARLA_API LidarLaser
 {
 public:
 
-	LidarLaser(int Id, float VerticalAngle) :
-		Id(Id),
-		VerticalAngle(VerticalAngle)
-	{}
+  LidarLaser(int Id, float VerticalAngle) :
+    Id(Id),
+    VerticalAngle(VerticalAngle)
+  {}
 
-	int GetId();
-	bool Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, bool Debug = false);
+  int GetId();
+  bool Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, bool Debug = false);
 
 private:
 
-	int Id;
-	float VerticalAngle;
+  int Id;
+  float VerticalAngle;
 
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
index f1a39c231..dbb8128a1 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
@@ -10,38 +10,38 @@ struct FLidarDescription
   GENERATED_USTRUCT_BODY()
 
   /** Number of lasers */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	int Channels = 32;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  int Channels = 32;
 
   /** Measure distance */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float Range = 5000;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float Range = 5000;
 
   /** Points generated by all lasers per second */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float PointsPerSecond = 56000;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float PointsPerSecond = 56000;
 
   /** Lidar rotation frequency */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float RotationFrequency = 10;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float RotationFrequency = 10;
 
   /**
     Upper laser angle, counts from horizontal,
     positive values means above horizontal line
   */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float UpperFovLimit = 10;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float UpperFovLimit = 10;
 
   /**
     Lower laser angle, counts from horizontal,
     negative values means under horizontal line
   */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float LowerFovLimit = -30;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float LowerFovLimit = -30;
 
   /** wether to show debug points of laser hits in simulator */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	bool ShowDebugPoints = false;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  bool ShowDebugPoints = false;
 
   /** Position relative to the player. */
   UPROPERTY(Category = "Lidar Description", EditDefaultsOnly)