Add recommended start transforms to map info message

LibCarla/source/carla/rpc/MapInfo.h

@@ -7,6 +7,10 @@
 #pragma once
 
 #include "carla/MsgPack.h"
+#include "carla/geom/Transform.h"
+
+#include <string>
+#include <vector>
 
 namespace carla {
 namespace rpc {
@@ -18,7 +22,9 @@ namespace rpc {
 
     std::string open_drive_file;
 
-    MSGPACK_DEFINE_ARRAY(name, open_drive_file);
+    std::vector<geom::Transform> recommended_start_transforms;
+
+    MSGPACK_DEFINE_ARRAY(name, open_drive_file, recommended_start_transforms);
   };
 
 } // namespace rpc

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp

@@ -7,6 +7,8 @@
 #include "Carla.h"
 #include "Carla/Game/CarlaEpisode.h"
 
+#include "Carla/Vehicle/VehicleSpawnPoint.h"
+
 #include "EngineUtils.h"
 #include "GameFramework/SpectatorPawn.h"
 
@@ -36,6 +38,15 @@ UCarlaEpisode::UCarlaEpisode(const FObjectInitializer &ObjectInitializer)
       return ++COUNTER;
     }()) {}
 
+TArray<FTransform> UCarlaEpisode::GetRecommendedStartTransforms() const
+{
+  TArray<FTransform> SpawnPoints;
+  for (TActorIterator<AVehicleSpawnPoint> It(GetWorld()); It; ++It) {
+    SpawnPoints.Add(It->GetActorTransform());
+  }
+  return SpawnPoints;
+}
+
 const AWorldObserver *UCarlaEpisode::StartWorldObserver(carla::streaming::MultiStream Stream)
 {
   UE_LOG(LogCarla, Log, TEXT("Starting AWorldObserver sensor"));

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h

@@ -55,6 +55,10 @@ public:
     return ActorDispatcher.GetActorDefinitions();
   }
 
+  /// Return the list of recommended start positions.
+  UFUNCTION(BlueprintCallable)
+  TArray<FTransform> GetRecommendedStartTransforms() const;
+
   /// Spawns an actor based on @a ActorDescription at @a Transform. To properly
   /// despawn an actor created with this function call DestroyActor.
   ///

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp

@@ -194,7 +194,17 @@ void FTheNewCarlaServer::FPimpl::BindActions()
   Server.BindSync("get_map_info", [this]() -> cr::MapInfo {
     RequireEpisode();
     auto FileContents = FOpenDrive::Load(Episode->GetMapName());
-    return {cr::FromFString(Episode->GetMapName()), cr::FromFString(FileContents)};
+    const auto &SpawnPoints = Episode->GetRecommendedStartTransforms();
+    std::vector<carla::geom::Transform> spawn_points;
+    spawn_points.reserve(SpawnPoints.Num());
+    for (const auto &Transform : SpawnPoints)
+    {
+      spawn_points.emplace_back(Transform);
+    }
+    return {
+        cr::FromFString(Episode->GetMapName()),
+        cr::FromFString(FileContents),
+        spawn_points};
   });
 
   Server.BindSync("get_actor_definitions", [this]() {