          / #3883

Originally posted by @SExpert12 in https://github.com/carla-simulator/carla/issues/3883#issuecomment-1761290642

I am working with CARLA 0.9.14 with Ubuntu. I am able to move vehicle in straight movement using the following code:

def drive_through_turn(planned_route,vehicle,PID): speed = 5 i=0 target=planned_route[0]

print("target",target.lane_id)

    #print("road_id",target.road_id)

    while True:
        if target!=None:
            print('in target',target)
            vehicle_loc= vehicle.get_location()
            #distance_v =find_dist_veh(vehicle_loc,target)
            control = PID.run_step(speed,target)

            vehicle.apply_control(control)
            i=i+1
            target = planned_route[i]
            #print("\ntarget",target)
        if i==(len(planned_route)-1):
            print("last waypoint reached")
            break
    control = PID.run_step(0,planned_route[len(planned_route)-1])
    vehicle.apply_control(control)

def turn_PID(vehicle):

    args_lateral_dict = {
            'K_P': 1,
            'K_D': 0.1,
            'K_I': 0.07

            ,'dt': 1.0 / 10.0
            }

    args_long_dict = {
            'K_P': 1,
            'K_D': 0.0,
            'K_I': 0.75
            ,'dt': 1.0 / 10.0
            }

    PID=controller.VehiclePIDController(vehicle,args_lateral=args_lateral_dict,args_longitudinal=args_long_dict)

    return PID

How to change this code for a vehicle having a turning movement? The vehicle is rotating at its place when I use this code for a vehicle having a turning movement.

carla-simulator / carla

/ #3883 Vehicle is not moving in turning waypoints #6829

print("target",target.lane_id)