Do rotorcrafts like helicopters have autopilots?
Yes, helicopters can be fitted with autopilots. Some are very simple, others are quite advanced. The more advanced ones can, for instance, follow a pre-programmed route, climb/descent to a pre-selected altitude, fly an ILS approach, perform a go-around automatically.

They are not ordinarily found in small helicopters due to cost and lack of necessity. All modern offshore helicopters that I've encountered have them and they are used extensively. Usually they are engaged shortly after take-off and disengaged shortly before landing.