Closed BashByr closed 1 year ago
BashByr
commented
1 year ago Update: shortly after this post, I undocked and redocked the TBot4 Lite and it went back to the red LED animation. Both the Lite and Standard have been docked for around 6 hours and still display the red LED animation.
roni-kreinin
commented
1 year ago @BashByr Can you upload the logs from the Create 3 webserver for both robots after this happens? Can you also check the battery levels in the "About" section? There should be an entry like this:
The turtlebot4_node has logic in it to automatically power the robot off if it goes below 12% charge for over a minute, and because it is receiving those 0's in the battery topic, I suspect that this logic is being triggered.
BashByr
commented
1 year ago @roni-kreinin I really appreciate your quick responses. I am not able to provide logs after the robots shut down and display the red ring light as the Create 3 webserver can no longer be reached at that point. However, I have logs shortly before they shut down, as described below:
For the TBot4 Lite, I first undocked it to completely shut it down, then redocked and had it boot back up. Once it booted up, there is a brief period during which I can access the Create 3 webserver before the robot goes into low power mode. Here, I got the following from the About section, indicating a 100% SOC:
Strangely enough, looking at the /battery_state topic for that robot, I kept getting a 0% SOC and it wouldn’t even recognize it is docked and charging:
Here is the Create 3 webserver log shortly before it shut off into low power mode:
For the TBot Standard, the same SOC discrepancy is observed. In the short time I have before the robot enters low power mode, this was the SOC reported in the Create 3 Webserver:
However, looking at the screen onboard the robot:
Also, looking at its /battery_status topic while it was docked and in low power mode:
Here is the Create 3 webserver log for the TBot 4 Standard:
The robots are more or less unusable until this is solved, so I would truly appreciate any pointers in the right direction.
roni-kreinin
commented
1 year ago Which firmware version are you running on the Create 3's?
BashByr
commented
1 year ago Both of them are are running G.3.1:
TBot Standard:
TBot Lite:
roni-kreinin
commented
1 year ago You will need to update them both to the latest humble firmware. https://iroboteducation.github.io/create3_docs/releases/h_1_1/
BashByr
commented
1 year ago Hadn’t even considered that. Just did, and they’re both back to normal now. Thanks a ton.
schenkch
commented
1 year ago I am having a related problem with Galactic and the turtlebot4 standard. I was running ros2 launch turtlebot4_navigation nav_bringup.launch.py localization:=true slam:=async map:=map_office.yaml, ros2 launch turtlebot_viz view_robot.launch.py and modified the script from the tutorial for multiple sequential goals instead of just one. I checked the battery state before navigation which was around 60% and while navigating to the second goal the robot just stops, the lightring turns red and the battery state went down to 16%. It is consuming a lot of battery. Is there a fix for this? @roni-kreinin Or would this be resolved with upgrading from the latest Galactic to the latest Humble version?
Please provide the following information:
Package version: “turtlebot4_standard_humble_1.0.0.zip | 2023-03-03 23:51 | 1.9G” from http://download.ros.org/downloads/turtlebot4/
Expected behaviour The Turtlebots (both Lite and Standard) should realize that they are fully charged and not power off randomly, or realize that they are not charged and should charge up when docked.
Actual behaviour Instead, when I place them on their docks, they first boot up normally and publish their topics. However, after a few minutes (and at exactly the same time if they were both initially docked at the same time), they turn off, and their light rings turn red (the red LEDs fill up the circle one by one and the pattern loops). Interestingly, they both seem to still be publishing their topics as seen below:
Looking at the /battery_state topic of the TurtleBot4 Standard:
This was quite strange, as just a few minutes before, I had connected the controller to the bot and drove it off its dock. When I did that and looked at its /battery_state, I got this:
Indicating a 99% state of charge. Even the LED screen echoed the same thing. However, shortly after that was published, the robot turned off. I then placed it back on its dock, where it booted back up and then displayed the red ring and shut off a few minutes later. The /battery_state topic reverted to publishing a 0% SOC. It seems to be some kind of standby mode, as they still publish their topics, but they immediately die if I lift them off their docks. I confirmed this by subscribing to one of their /tf topics and seeing a stream of messages. So they recognize that they are being charged, but do not seem to charge. Also, the ring light on the Lite will sometimes turn a solid yellow:
Currently, they are both docked, with the Lite displaying the yellow ring above and the Standard displaying the red animated ring. I keep checking their battery states but they are both at 0% and have been for some time, despite them being docked. As I mentioned, if I lift them off their docks, they immediately and completely shut off.
To Reproduce The robots just power off and display their red light rings a few minutes after they’ve been docked.
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