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vehicle-status-steering-status.md

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last_updated 2026-01-21
interface_type topic
interface_name /vehicle/status/steering_status
data_type_name autoware_vehicle_msgs/msg/SteeringReport
data_type_link https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/SteeringReport.msg
rate 10
qos_reliability reliable
qos_durability volatile
qos_depth 1

{{ interface_name }}

Specifications

{% include 'design/autoware-architecture-v1/interfaces/templates/topic.jinja2' %}

Description

Get the current steering status of the vehicle.

Message

See the [message definition]({{ data_type_link }}) 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.