That html link is correct for what it says, but is a bit misleading: "Round Tube steel" IS a structural member of specific material properties and tight shape tolerances OFTEN (not always) not met by "pipe" - round steel or stainless members intended to transport liquids and powders. This is because "round structural steel members rarely face internal pressures, but are frequently faced with bending stresses and column-like compression stresses that become exaggerated when the structural member is trying to resist failure affected by geometry (out-of-roundness) or out-of-straightness.
"Pipes" on the other hand, when faced with internal pressure, will actually tend to straighten and go "back into round" as they deflect.
However, "tubes" also are selected for fluid services for specific purposes, but ARE always designated by their OD as in the html linked page. Heat exchangers, for example, will use "tubing" instead of "pipe", and small instrument lines are usually tubing (1/4 dia stainless tubing, 1/2 inch dia tubing used in a drain line or bleed line, for example)