Add function to enable autopilot from Python

LibCarla/source/carla/client/Client.cpp

@@ -41,5 +41,11 @@ namespace client {
     _client.call("apply_control_to_actor", actor.Serialize(), control);
   }
 
+  void Client::SetActorAutopilot(
+      const Actor &actor,
+      const bool enabled) {
+    _client.call("set_actor_autopilot", actor.Serialize(), enabled);
+  }
+
 } // namespace client
 } // namespace carla

LibCarla/source/carla/client/Client.h

@@ -80,6 +80,10 @@ namespace client {
         const Actor &actor,
         const VehicleControl &control);
 
+    void SetActorAutopilot(
+        const Actor &actor,
+        bool enabled);
+
   private:
 
     carla::rpc::Client _client;

LibCarla/source/carla/client/Vehicle.h

@@ -19,6 +19,10 @@ namespace client {
       GetWorld()->GetClient().ApplyControlToActor(*this, control);
     }
 
+    void SetAutopilot(bool enabled = true) {
+      GetWorld()->GetClient().SetActorAutopilot(*this, enabled);
+    }
+
   private:
 
     friend class Client;

PythonAPI/source/libcarla/Actor.cpp

@@ -84,6 +84,7 @@ void export_actor() {
 
   class_<cc::Vehicle, bases<cc::Actor>, boost::noncopyable, boost::shared_ptr<cc::Vehicle>>("Vehicle", no_init)
     .def("apply_control", &cc::Vehicle::ApplyControl)
+    .def("set_autopilot", &cc::Vehicle::SetAutopilot, (arg("enabled")=true))
     .def(self_ns::str(self_ns::self))
   ;
 

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

@@ -194,7 +194,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
   Server.BindSync("apply_control_to_actor", [this](cr::Actor Actor, cr::VehicleControl Control) {
     RequireEpisode();
     auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
-    if (!ActorView.IsValid()) {
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
       RespondErrorStr("unable to apply control: actor not found");
     }
     auto Vehicle = Cast<ACarlaWheeledVehicle>(ActorView.GetActor());
@@ -203,6 +203,23 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     }
     Vehicle->ApplyVehicleControl(Control);
   });
+
+  Server.BindSync("set_actor_autopilot", [this](cr::Actor Actor, bool bEnabled) {
+    RequireEpisode();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
+      RespondErrorStr("unable to set autopilot: actor not found");
+    }
+    auto Vehicle = Cast<ACarlaWheeledVehicle>(ActorView.GetActor());
+    if (Vehicle == nullptr) {
+      RespondErrorStr("unable to set autopilot: actor is not a vehicle");
+    }
+    auto Controller = Cast<AWheeledVehicleAIController>(Vehicle->GetController());
+    if (Controller == nullptr) {
+      RespondErrorStr("unable to set autopilot: vehicle has an incompatible controller");
+    }
+    Controller->SetAutopilot(bEnabled);
+  });
 }
 
 // =============================================================================

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp

@@ -75,6 +75,8 @@ AWheeledVehicleAIController::AWheeledVehicleAIController(const FObjectInitialize
 {
   RandomEngine = CreateDefaultSubobject<URandomEngine>(TEXT("RandomEngine"));
 
+  RandomEngine->Seed(RandomEngine->GenerateRandomSeed());
+
   PrimaryActorTick.bCanEverTick = true;
   PrimaryActorTick.TickGroup = TG_PrePhysics;
 }
@@ -98,6 +100,12 @@ void AWheeledVehicleAIController::Possess(APawn *aPawn)
   MaximumSteerAngle = Vehicle->GetMaximumSteerAngle();
   check(MaximumSteerAngle > 0.0f);
   ConfigureAutopilot(bAutopilotEnabled);
+
+  if (RoadMap == nullptr)
+  {
+    TActorIterator<ACityMapGenerator> It(GetWorld());
+    RoadMap = (It ? It->GetRoadMap() : nullptr);
+  }
 }
 
 void AWheeledVehicleAIController::Tick(const float DeltaTime)