Andrews (ankle) was present for Friday's practice, Jamison Hensley of ESPN.com reports.
There's a pretty good chance that he'll be listed as a limited participant and then questionable for Sunday's game against the Steelers. Keep in mind that the Ravens have already clinched the AFC's top playoff seed, so it wouldn't be surprising if Andrews was rested or limited this weekend, even if his ankle is sound enough for him to suit up.