/vehicle/status/steering_status#
Specifications#
| Item | Value |
|---|---|
| Last Updated | 2026-01-21 |
| Interface Type | topic |
| Interface Name | /vehicle/status/steering_status |
| Data Type | autoware_vehicle_msgs/msg/SteeringReport |
| Rate [Hz] | 10 |
| QoS Reliability | reliable |
| QoS Durability | volatile |
Description#
Get the current steering status of the vehicle.
Message#
See the message definition for details.
Errors#
Unknown status: If the vehicle interface cannot get the status due to connection loss, etc., the status is stopped and a diagnostic error is reported.
Hardware Fault: If the vehicle platform reports a sensor fault, a diagnostic error is reported.
Support#
This interface is required.
Limitations#
Conversion accuracy: This value is typically calculated from the Steering Wheel Angle using a steering gear ratio (which may be variable/non-linear). Therefore, the accuracy depends on the correctness of the gear ratio model parameters.
Mechanical play: Due to mechanical backlash in the steering column, small movements of the steering wheel might not result in actual tire movement, causing a discrepancy between this reported status and the physical tire angle.
Tire deformation: This value represents the kinematic angle of the wheel assembly, not the actual slip angle of the tire contact patch.
Use Cases#
- Control the vehicle for autonomous driving.
- Display current steering status to the operator.
Requirement#
- Support getting the current steering status of the vehicle.
- Report the error as diagnostics if the status cannot be received or an unknown status is received.
Design#
Coordinate system & sign convention: The interface follows the standard vehicle coordinate system (ISO 8855 / ROS REP-103).
- Positive (+) indicates counter-clockwise rotation (left turn).
- Negative (-) indicates clockwise rotation (right turn).
Data source: Reports the steering tire angle (average of front wheels or virtual center wheel). Typically converted from the steering wheel angle sensor data using a linear or variable gear ratio model.
History#
| Date | Description |
|---|---|
| 2026-01-21 | First release in the new format. |