Difference between ActuationStatus & SteeringStatus

[MrOCW]

Hi, I am creating a vehicle_interface for my differential drive robot. I see that there are steering data in both Actuation Status and Steering Status messages. What is the difference between these 2?

[takayuki5168]

@MrOCW

~/pilot-auto/src$ grep -R ActuationStatus
vendor/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp:    create_publisher<ActuationStatusStamped>("/vehicle/status/actuation_status", 1);
vendor/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp:    ActuationStatusStamped actuation_status;
vendor/pacmod_interface/pacmod_interface/README.md:  | `/vehicle/status/actuation_status`       | autoware_auto_vehicle_msgs::msg::ActuationStatusStamped | actuation (accel/brake pedal, steering wheel) status |
vendor/pacmod_interface/pacmod_interface/include/pacmod_interface/pacmod_interface.hpp:  using ActuationStatusStamped = tier4_vehicle_msgs::msg::ActuationStatusStamped;
vendor/pacmod_interface/pacmod_interface/include/pacmod_interface/pacmod_interface.hpp:  rclcpp::Publisher<ActuationStatusStamped>::SharedPtr actuation_status_pub_;
autoware/tier4_autoware_msgs/tier4_vehicle_msgs/CMakeLists.txt:  "msg/ActuationStatus.msg"
autoware/tier4_autoware_msgs/tier4_vehicle_msgs/CMakeLists.txt:  "msg/ActuationStatusStamped.msg"
autoware/tier4_autoware_msgs/tier4_vehicle_msgs/msg/ActuationStatusStamped.msg:tier4_vehicle_msgs/ActuationStatus status
Binary file autoware/tier4_autoware_msgs/.git/index matches
autoware/universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp:  actuation_status_sub_ = create_subscription<tier4_vehicle_msgs::msg::ActuationStatusStamped>(
autoware/universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp:    std::bind(&AccelBrakeMapCalibrator::callbackActuationStatus, this, _1));
autoware/universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp:void AccelBrakeMapCalibrator::callbackActuationStatus(
autoware/universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp:  const tier4_vehicle_msgs::msg::ActuationStatusStamped::ConstSharedPtr msg)
autoware/universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp:  rclcpp::Subscription<tier4_vehicle_msgs::msg::ActuationStatusStamped>::SharedPtr
autoware/universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp:  void callbackActuationStatus(
autoware/universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp:    const tier4_vehicle_msgs::msg::ActuationStatusStamped::ConstSharedPtr msg);
autoware/universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/test/sim_actuation_status_publisher.py:from tier4_vehicle_msgs.msg import ActuationStatusStamped
autoware/universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/test/sim_actuation_status_publisher.py:class ActuationStatusPublisher(Node):
autoware/universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/test/sim_actuation_status_publisher.py:            ActuationStatusStamped, "/vehicle/status/actuation_status", qos_profile
autoware/universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/test/sim_actuation_status_publisher.py:        data = ActuationStatusStamped()
autoware/universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/test/sim_actuation_status_publisher.py:    node = ActuationStatusPublisher()

It seems the actuation status published by vehicle_interface (pacmod_interface) is only used in the accel_brake_map_calibrator.
I guess the accel_brake_map_calibrator still uses the old message type which is actuation status.