Controller Bluetooth Range extremely low

turtlebot / turtlebot4

Turtlebot4 common packages.

Apache License 2.0

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Controller Bluetooth Range extremely low #302

Closed Simba185 closed 10 months ago

Simba185 commented 11 months ago

Please provide the following information:

OS: (e.g. Ubuntu 20.04) Ubuntu 22.02
ROS Distro: (e.g. Galactic) Humble
Built from source or installed: Installed

Expected behavior Bluetooth controller is able to operate at ~33ft

Actual behavior Bluetooth controller is erratic (input locks on or is not responsive) after 10ft.

To Reproduce Provide the steps to reproduce: Boot the TB4 Drive 10 Ft behind a desk or other object. Control is erratic.

Other notes How to Upgrade to Logitech F710 ( used with other Clearpath products, without issues)

roni-kreinin commented 11 months ago

If you remove the PCB, check that the ribbon cable connecting the RPi to the PCB is not directly over the RPi itself. This can block the signal.

Regarding the F710 controller, TTB4 does not officially support it but it should be fairly easy to use. You will need to replace the turtlebot4 controller parameter file with something like this. You will also need to add a udev rule like this to symlink the device.

adnan-saood commented 11 months ago

Hello, I am having the same issue with Bluetooth and also WiFi signal, the cable connecting RPi to PCB (the ribbon?) is not looping over the RPi.

Simba185 commented 11 months ago

My cable seems correctly installed but clearly sits above the pi so there is no option to not block some signal.

Bluetooth wont pair after about 6ft and 1 desk in-between. ( Fyi the wifi works best on 5GHZ)

@roni-kreinin are you able to provide steps to change PS4 controller for F710? This would allow for External Receivers that could be mounted on the main PCB or wherever is best for signal.

Thanks,

roni-kreinin commented 11 months ago

@Simba185 I don't have instructions for this but the general steps would be:

On the RPi, create a workspace and clone turtlebot4_robot.
Change the contents of turtlebot4_controller config to this
Build the workspace
Create a udev rule file under /etc/udev/rules.d/

Paste these rules in:

KERNEL=="js*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c21f", SYMLINK+="input/f710"
KERNEL=="js*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c219", SYMLINK+="input/f710"

Trigger the new rule: sudo udevadm control --reload && sudo udevadm trigger
Run the turtlebot4_setup tool and in the bash menu change the workspace to the turtlebot4_robot workspace you built.
Save those changes, then use the turtlebot4_setup tool to reinstall the robot_upstart job.

I haven't tested this so there may be some additional steps required.

hilary-luo commented 10 months ago

This issue is being closed due to inactivity. If you are still experiencing the issue, feel free to reopen this ticket when you are ready to continue the troubleshooting process.