TurtleBot4 robots with defective batteries and one of them doesn't boot up

[paoloelle]

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

Discovery Server

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

I cannot check the version of the package since one robot has only a battery problem and the other one doesn't boot up.

Type of issue

Battery

Expected behaviour

The robots don’t shut down once removed from the docking station and boot up properly.

Actual behaviour

I am writing to report issues with two TurtleBot4 robots. Both robots are experiencing technical problems, as described below:
• TurtleBot 1: The battery does not hold a charge.
• TurtleBot 2: The battery does not hold a charge, and the Create3 does not boot up. Additionally, the Raspberry Pi screen does not turn on.

The problem occurs as soon as I remove the robot from the charging station, it shuts down immediately. I tested both robots with a fully functional battery, and this issue did not occur. As a result, I was able to update TurtleBot 1. However, TurtleBot 2 is experiencing another issue beyond the battery: the Create3 does not boot up (LED ring spinning white), and the Raspberry Pi screen remains off.

Error messages

To Reproduce

1. Place the robot on docking station
2. Remove the robot from the docking station

Other notes

No response

[RustyCPR]

Hi there @paoloelle
Thanks for creating this ticket.

Could you remove the batteries for 30 minutes from the Create3 base to reset the battery logic circuitry. See instructions here: LINK

Then reinstall the battery and please review these instructions and let me know if anything changes: LINK

Thanks,
Rusty

[paoloelle]

@RustyCPR I followed your instructions and the problems mentioned above still hold:

• TurtleBot 1: If I put the robot in the charging dock it turns on but the Raspberry Pi screen doesn't turn on. Once I remove the robot from the dock it suddenly shuts down. Wiring connections are ok.

• TurtleBot2: Create3 doesn't boot up and the Raspberry Pi screen doesn't turn on. Once I remove the robot from the dock it suddenly shuts down. Wiring connections are ok.

[RustyCPR]

Hi @paoloelle
Thanks for the reply.
Can you please remove the Create3 adapter board and verify:

• The USB /BT toggle switch is set to USB
• Make sure the Battery power output cable and USB are securely connected.

Please also verify:
-Please check the other ends of the above connections are securely connected.
-Please make sure the RPi ribbon cable is securely connected to the top PCBA.
-When booting does the Create3 play a chime?
-What is the color ring light on the Create3 showing: https://iroboteducation.github.io/create3_docs/hw/face/

The more details you provide the better I can help,
Thanks,
Rusty

[paoloelle]

@RustyCPR thanks for the suggestions. I've checked out the robots and here is a detailed description:

• TB1:

  • Ribbon cable is securely and correctly connected.

  • The usb/bt switch is set to USB.

  • Both the battery and the usb cable are securely connected both on the create3 adapter and the other end

  • If I put it on the station the following happens:

    • lidar spins for a few seconds
    • light ring shows "Spinning White" animation
    • plays chime
    • light ring shows "Partial White" animation. The animation shows 0% charge.
    • display is still off
    • after 30min on charging station it is still the same. (display off, animation the same and still shows 0%)

  • After I take it from the station the following happens:

    • light ring turns of immediately
    • does not respond to any button presses or anything

• TB2:

  • Ribbon cable is securely and correctly connected.

  • The usb/bt switch is set to USB.

  • Both the battery and the usb cable are securely connected both on the create3 adapter and the other end

  • If I put it on the station the following happens:

    • lidar spins for a few seconds
    • light ring shows "Spinning White" animation
    • display is off
    • after 30min on charging station it is still the same (display off, still "Spinning White animation")

  • After I take it from the station the following happens:

    • light ring turns of immediately
    • does not respond to any button presses or anything

[RustyCPR]

Thank you for the details @paoloelle
Can you please confirm if the RPi is powered on while the Create3 is powered on the charger base?
Can you check and verify if the USB-A to USB-B cable is connected from RPi to the PCB?
Do you see any LEDs on the PCB board above the LCD?

Thanks,
Rusty

[paoloelle]

@RustyCPR For both of the robots the behavior is the same:

• The USB-A to USB-B cable is securely connected
• When the robot is on the charging station:
  • All of the LEDs above the LCD screen are turned off
  • The Lidar turns on and while it spins two LEDs on the RPi go on. A red one labeled PWR and a green one labeled ACT. Then Lidar and the LEDs of the RPi turn off at the same time and nothing happens anymore

[RustyCPR]

Hi @paoloelle
Thanks for your feedback!

Are you able to keep the TB4 on the charger and while its charging get the Create3 logs and about page from the create3 webserver? https://turtlebot.github.io/turtlebot4-user-manual/setup/simple_discovery.html#create-3

Can you reimage the RPi but make sure that it is imaged with the standard version (or go into the turtlebot4 setup tool and make sure it is set to standard). https://turtlebot.github.io/turtlebot4-user-manual/setup/basic.html#recovering-the-raspberry-pi

It appears you may have both a battery problem and a settings problem.
If its a battery issue batteries can be sourced here: https://www.irobot.com/en_US/roomba-accessories/4624864.html

Best regards,
Rusty

[paoloelle]

HI @RustyCPR. These are my feedback:

• TB1
  • I'm not able to connect to tb1_ip_address:8080 to open the webserver of the Create3
  • If I put the robot in the hotspot mode (pressing Button 1 and 2) I can connect to the Create3 webserver.
  • Attached you can find what the logs (logs_TB1.txt) and the about page (about_TB1.txt) says.

logs_TB1.txt
about_TB1.txt

• TB2
  • I was not able to connect to it. I can't even activate the robot's hotspot by pressing and holding Button 1 and 2.

I also tried with a functioning battery and these are the results:

• TB1: The robot works again perfectly. Like expected.

• TB2: The robot still doesn't work. I've also reimaged the Raspberry Pi but unfortunately, it did not change anything. The Create3 still never finishes booting.