How can I let the vehicle run by my path

[lbyoo]

carla version 0.9.14
os: windows 10
python 3.7
map: town04

I hope the car first run 20m in the second lane then change to left lane, back to the second lane after run 40m.
I tried agent's set_destination method and trafficmanager's set_path, but the car always run incorrect.
Is my way wrong or carla doesn't support this scenario?

[lbyoo]

the following is my simple code to verify the agent, it's still wrong.

import sys
sys.path.append("carla/dist/carla-0.9.14-py3.7-win-amd64.egg")
sys.path.append("carla")
import carla
from agents.navigation.basic_agent import BasicAgent
from carla import Transform, Location, Rotation

client = carla.Client('localhost', 2000, worker_threads=1)
client.set_timeout(20.0)
world = client.get_world()
map = world.get_map()

settings = world.get_settings()
settings.synchronous_mode = True
settings.fixed_delta_seconds = 0.05
world.apply_settings(settings)

try:
bp = world.get_blueprint_library().find("vehicle.ford.crown")
spec = world.get_spectator()
t = Transform(Location(x=-8.514482, y=113.051308, z=0.067943), Rotation(pitch=-0.000034, yaw=89.710915, roll=0.000016))
# spec.set_transform(t)
hv = world.spawn_actor(bp, t)
agent = BasicAgent(hv, 20, map_inst= map)
destination = Location(x=-8.413572, y=203.051056, z=0.067480)
world.debug.draw_string(destination, 'dd', life_time=10)
agent.set_destination(destination)
while True:
world.tick()
if agent.done():
break
hv.apply_control(agent.run_step())

finally:
settings.synchronous_mode = False
settings.fixed_delta_seconds = None
world.apply_settings(settings)
[ x.destroy() for x in world.get_actors().filter("vehicle")]

[lbyoo]

I found the answer, because I create the agent before first tick(), the vehicle's location is still (0,0,0), then leads to the wrong actions.
I move the agent creation after tick() , the question resolved.
just like this:

agent = None

while True:
world.tick()
if agent == None:
agent = Agent(vehicle)
agent.set_destination(dest)
vehicle.apply_control(agent.run_step())

[NunWang]

yes, I faced the same problem, carla.TrafficManagement.se_path is not useful, I'll try your solution, Thank you