A CRJ-900's 'steering inop' EICAS alerted after takeoff. The pilot handbook procedure was followed and the flight continued to its destination. After landing the appropriate circuit breakers were reset allowing the aircraft to be taxied to its gate.

Narrative

Soon after takeoff from ZZZ; 'Steering Inoperative' EICAS caution message appeared. Ran the emergency procedure as outlined in the green book. Contacted Maintenance and Dispatch. Continued to ZZZ1. Enroute; briefed Flight Attendants of the conditions; described to expect 'rougher braking.' Advised passengers. ZZZ1 had favorable conditions; as required by the emergency procedure. Emergency procedure asked to land at a longest runway with minimal winds. Enroute; the flight went as normal. On the arrival; contacted Center and stated the problem. Did not declare emergency but asked for an ARFF. Explained that after landing; as the aircraft decelerates; we will experience reduced steering capabilities. Landed without any undue delay nor problem. Made a complete stop on a high speed taxiway. Ran pilot handbook procedure that allows us to reset certain CBs. Steering returned. Taxied on our own power to the gate. Flight crew could not reset the CB in the air because procedure specifically stated to accomplish this procedure on the ground with aircraft stationary. I have seen 'Steering Inoperative' caution message before twice. It came up soon after landing on previous occasions. It was unexpected but we had little difficulty controlling the aircraft movement. One might question why we did not declare an emergency. I believed that the situation was not dire since I had ample time to get ready and had good runway conditions.