# /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](<https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/SteeringReport.msg>) |
| Rate \[Hz\] | 10 (design value) |
| QoS Reliability | reliable |
| QoS Durability | volatile |
| QoS Depth | 1 |

## 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`](<https://github.com/autowarefoundation/autoware_core/blob/1.10.0/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp>) package does not define a rate. Known publishers send the status faster: [`autoware_simple_planning_simulator`](<https://github.com/autowarefoundation/autoware_simple_planning_simulator/blob/1.1.0/autoware_simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp>) publishes it at 40 Hz (`timer_sampling_time_ms: 25`), and [`pacmod_interface`](<https://github.com/tier4/pacmod_interface/blob/main/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp>) publishes it once for each set of PACMod reports. The consumers use the latest message that they received. For example, [`autoware_trajectory_follower_node`](<https://github.com/autowarefoundation/autoware_universe/blob/0.53.1/control/autoware_trajectory_follower_node/src/controller_node.cpp>) and [`autoware_vehicle_cmd_gate`](<https://github.com/autowarefoundation/autoware_universe/blob/0.53.1/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp>) read the latest steering angle and do not check its age.

## Message

See the [message definition](<https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/SteeringReport.msg>) 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 &amp; 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. |