/vehicle/status/steering_status#

Specifications#

Description#

Get the current steering status of the vehicle.

The rate of 10 Hz in the table is a design value. The autoware_component_interface_specs package does not define a rate. Known publishers send the status faster: autoware_simple_planning_simulator publishes it at 40 Hz (timer_sampling_time_ms: 25), and pacmod_interface publishes it once for each set of PACMod reports. The consumers use the latest message that they received. For example, autoware_trajectory_follower_node and autoware_vehicle_cmd_gate read the latest steering angle and do not check its age.

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#