Generating traffic in carla-ros-bridge


I’m trying to use carla-ros-bridge for 0.9.12v and define scenario and traffic behavior. I found openscenario solution very limiting and want to use the python api. However, when I simply use the file, I see that other agents do crazy behavior and go out of the road and do not care about other cars and crashes.
Does anyone have any solution or suggestion?

Thank you