diff --git a/LibCarla/source/carla/client/Map.cpp b/LibCarla/source/carla/client/Map.cpp
index 88dd691b6..4a90d6ede 100644
--- a/LibCarla/source/carla/client/Map.cpp
+++ b/LibCarla/source/carla/client/Map.cpp
@@ -41,7 +41,7 @@ namespace client {
   SharedPtr<Waypoint> Map::GetWaypoint(
   const geom::Location &location,
   bool project_to_road,
-  uint32_t lane_type) const {
+  int32_t lane_type) const {
     boost::optional<road::element::Waypoint> waypoint;
     if (project_to_road) {
       waypoint = _map.GetClosestWaypointOnRoad(location, lane_type);
diff --git a/LibCarla/source/carla/client/Map.h b/LibCarla/source/carla/client/Map.h
index f1c397088..51ebba70c 100644
--- a/LibCarla/source/carla/client/Map.h
+++ b/LibCarla/source/carla/client/Map.h
@@ -54,7 +54,7 @@ namespace client {
     SharedPtr<Waypoint> GetWaypoint(
         const geom::Location &location,
         bool project_to_road = true,
-        uint32_t lane_type = static_cast<uint32_t>(road::Lane::LaneType::Driving)) const;
+        int32_t lane_type = static_cast<uint32_t>(road::Lane::LaneType::Driving)) const;
 
     SharedPtr<Waypoint> GetWaypointXODR(
       carla::road::RoadId road_id,
diff --git a/LibCarla/source/carla/road/Lane.h b/LibCarla/source/carla/road/Lane.h
index 1dc2b9d25..2b5339d7b 100644
--- a/LibCarla/source/carla/road/Lane.h
+++ b/LibCarla/source/carla/road/Lane.h
@@ -26,7 +26,7 @@ namespace road {
   public:
 
     /// Can be used as flags
-    enum class LaneType : uint32_t {
+    enum class LaneType : int32_t {
       None          = 0x1,
       Driving       = 0x1 << 1,
       Stop          = 0x1 << 2,
@@ -48,7 +48,7 @@ namespace road {
       Exit          = 0x1 << 18,
       OffRamp       = 0x1 << 19,
       OnRamp        = 0x1 << 20,
-      Any           = 0xFFFFFFFE
+      Any           = -2 // 0xFFFFFFFE
     };
 
   public:
diff --git a/LibCarla/source/carla/road/Map.cpp b/LibCarla/source/carla/road/Map.cpp
index 5f5605ee0..cddb05f2e 100644
--- a/LibCarla/source/carla/road/Map.cpp
+++ b/LibCarla/source/carla/road/Map.cpp
@@ -96,7 +96,7 @@ namespace road {
       if (lane.GetId() == 0) {
         continue;
       }
-      if ((static_cast<uint32_t>(lane.GetType()) & static_cast<uint32_t>(lane_type)) > 0) {
+      if ((static_cast<int32_t>(lane.GetType()) & static_cast<int32_t>(lane_type)) > 0) {
         std::forward<FuncT>(func)(Waypoint{
             road_id,
             lane_section.GetId(),
@@ -155,12 +155,12 @@ namespace road {
 
   boost::optional<Waypoint> Map::GetClosestWaypointOnRoad(
       const geom::Location &pos,
-      uint32_t lane_type) const {
+      int32_t lane_type) const {
     std::vector<Rtree::TreeElement> query_result =
         _rtree.GetNearestNeighboursWithFilter(Rtree::BPoint(pos.x, pos.y, pos.z),
         [&](Rtree::TreeElement const &element) {
           const Lane &lane = GetLane(element.second.first);
-          return (lane_type & static_cast<uint32_t>(lane.GetType())) > 0;
+          return (lane_type & static_cast<int32_t>(lane.GetType())) > 0;
         });
 
     if (query_result.size() == 0) {
@@ -202,7 +202,7 @@ namespace road {
 
   boost::optional<Waypoint> Map::GetWaypoint(
       const geom::Location &pos,
-      uint32_t lane_type) const {
+      int32_t lane_type) const {
     boost::optional<Waypoint> w = GetClosestWaypointOnRoad(pos, lane_type);
 
     if (!w.has_value()) {
@@ -609,7 +609,7 @@ namespace road {
         for (const auto &lane : lane_section.GetLanes()) {
           // add only the right (negative) lanes
           if (lane.first < 0 &&
-              static_cast<uint32_t>(lane.second.GetType()) & static_cast<uint32_t>(lane_type)) {
+              static_cast<int32_t>(lane.second.GetType()) & static_cast<int32_t>(lane_type)) {
             result.emplace_back(Waypoint{ road.GetId(), lane_section.GetId(), lane.second.GetId(), 0.0 });
           }
         }
@@ -620,7 +620,7 @@ namespace road {
         for (const auto &lane : lane_section.GetLanes()) {
           // add only the left (positive) lanes
           if (lane.first > 0 &&
-              static_cast<uint32_t>(lane.second.GetType()) & static_cast<uint32_t>(lane_type)) {
+              static_cast<int32_t>(lane.second.GetType()) & static_cast<int32_t>(lane_type)) {
             result.emplace_back(
               Waypoint{ road.GetId(), lane_section.GetId(), lane.second.GetId(), road_len });
           }
@@ -641,7 +641,7 @@ namespace road {
         for (const auto &lane : lane_section.GetLanes()) {
           // add only the right (negative) lanes
           if (lane.first < 0 &&
-              static_cast<uint32_t>(lane.second.GetType()) & static_cast<uint32_t>(lane_type)) {
+              static_cast<int32_t>(lane.second.GetType()) & static_cast<int32_t>(lane_type)) {
             result.emplace_back(Waypoint{ road.GetId(), lane_section.GetId(), lane.second.GetId(), 0.0 });
           }
         }
@@ -652,7 +652,7 @@ namespace road {
         for (const auto &lane : lane_section.GetLanes()) {
           // add only the left (positive) lanes
           if (lane.first > 0 &&
-              static_cast<uint32_t>(lane.second.GetType()) & static_cast<uint32_t>(lane_type)) {
+              static_cast<int32_t>(lane.second.GetType()) & static_cast<int32_t>(lane_type)) {
             result.emplace_back(
               Waypoint{ road.GetId(), lane_section.GetId(), lane.second.GetId(), road_len });
           }
diff --git a/LibCarla/source/carla/road/Map.h b/LibCarla/source/carla/road/Map.h
index a04d32699..680ad731e 100644
--- a/LibCarla/source/carla/road/Map.h
+++ b/LibCarla/source/carla/road/Map.h
@@ -51,11 +51,11 @@ namespace road {
 
     boost::optional<element::Waypoint> GetClosestWaypointOnRoad(
         const geom::Location &location,
-        uint32_t lane_type = static_cast<uint32_t>(Lane::LaneType::Driving)) const;
+        int32_t lane_type = static_cast<int32_t>(Lane::LaneType::Driving)) const;
 
     boost::optional<element::Waypoint> GetWaypoint(
         const geom::Location &location,
-        uint32_t lane_type = static_cast<uint32_t>(Lane::LaneType::Driving)) const;
+        int32_t lane_type = static_cast<int32_t>(Lane::LaneType::Driving)) const;
 
     boost::optional<element::Waypoint> GetWaypoint(
         RoadId road_id,
diff --git a/PythonAPI/carla/source/libcarla/Map.cpp b/PythonAPI/carla/source/libcarla/Map.cpp
index ad55300cf..a1252493a 100644
--- a/PythonAPI/carla/source/libcarla/Map.cpp
+++ b/PythonAPI/carla/source/libcarla/Map.cpp
@@ -78,17 +78,6 @@ static carla::geom::GeoLocation ToGeolocation(
   return self.GetGeoReference().Transform(location);
 }
 
-// interface with carla::client::Map::GetWaypoint
-// windows compiler requires the explicit conversion from int32_t to uint32_t
-// which is not possible in python side
-static carla::SharedPtr<carla::client::Waypoint> GetWaypoint(
-    const carla::client::Map &self,
-    const carla::geom::Location &location,
-    bool project_to_road,
-    int32_t lane_type) {
-  return self.GetWaypoint(location, project_to_road, static_cast<uint32_t>(lane_type));
-}
-
 void export_map() {
   using namespace boost::python;
   namespace cc = carla::client;
@@ -169,7 +158,7 @@ void export_map() {
     .def(init<std::string, std::string>((arg("name"), arg("xodr_content"))))
     .add_property("name", CALL_RETURNING_COPY(cc::Map, GetName))
     .def("get_spawn_points", CALL_RETURNING_LIST(cc::Map, GetRecommendedSpawnPoints))
-    .def("get_waypoint", &GetWaypoint, (arg("location"), arg("project_to_road")=true, arg("lane_type")=static_cast<int32_t>(cr::Lane::LaneType::Driving)))
+    .def("get_waypoint", &cc::Map::GetWaypoint, (arg("location"), arg("project_to_road")=true, arg("lane_type")=cr::Lane::LaneType::Driving))
     .def("get_waypoint_xodr", &cc::Map::GetWaypointXODR, (arg("road_id"), arg("lane_id"), arg("s")))
     .def("get_topology", &GetTopology)
     .def("generate_waypoints", CALL_RETURNING_LIST_1(cc::Map, GenerateWaypoints, double), (args("distance")))