Multicast PIM Auto RP and Mapping Agent single device

When implementing multicast, it is possible to configure a router to be both a mapping agent as well as a candidate RP. Simply configure both the ip pim send-rp-discovery command as well as the ip pim send-rp-announce command on the same device.

The best location for the PIM Auto RP and mapping agent is explained here:

Multicast Mapping Agent and RP placement