Battery reporting 0.00 voltage and percentage.

[mmorales45]

Robot Model

Turtlebot4 Lite

ROS distro

Humble

Networking Configuration

Simple Discovery

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

N/A

Type of issue

Battery

Expected behaviour

Reporting a non zero percentage and voltage.

Actual behaviour

Getting 0.00 for both.

Error messages

ubuntu@ubuntu:~$ ros2 topic echo /diagnostics
header:
  stamp:
    sec: 1753903123
    nanosec: 630874991
  frame_id: ''
status:
- level: "\x02"
  name: 'joy_linux_node: Joystick Driver Status'
  message: Joystick not open.
  hardware_id: none
  values:
  - key: topic
    value: /joy
  - key: device
    value: /dev/input/js0
  - key: device name
    value: ''
  - key: dead zone
    value: '0.05'
  - key: autorepeat rate (Hz)
    value: '20'
  - key: coalesce interval (s)
    value: '0.001'
  - key: recent joystick event rate (Hz)
    value: '0'
  - key: recent publication rate (Hz)
    value: '0'
  - key: subscribers
    value: '2'
  - key: default trig val
    value: 'False'
  - key: sticky buttons
    value: 'False'
---
header:
  stamp:
    sec: 1753903123
    nanosec: 997503603
  frame_id: ''
status:
- level: "\0"
  name: 'oakd: sys_logger'
  message: System Information
  hardware_id: /oakd_1944301081EB5C1300_OAK-D-LITE
  values:
  - key: Leon CSS CPU Usage
    value: '17.383'
  - key: Leon MSS CPU Usage
    value: '3.076'
  - key: Ddr Memory Usage
    value: '57.5303'
  - key: Ddr Memory Total
    value: '333.263'
  - key: Cmx Memory Usage
    value: '2.36133'
  - key: Cmx Memory Total
    value: '2621440'
  - key: Leon CSS Memory Usage
    value: '23.809'
  - key: Leon CSS Memory Total
    value: '81.6967'
  - key: Leon MSS Memory Usage
    value: '3.47319'
  - key: Leon MSS Memory Total
    value: '39.8733'
  - key: Average Chip Temperature
    value: '35.2302'
  - key: Leon CSS Chip Temperature
    value: '37.2403'
  - key: Leon MSS Chip Temperature
    value: '34.4016'
  - key: UPA Chip Temperature
    value: '34.8772'
  - key: DSS Chip Temperature
    value: '34.4016'
---
header:
  stamp:
    sec: 1753903124
    nanosec: 502416740
  frame_id: ''
status:
- level: "\x02"
  name: 'turtlebot4_diagnostics: Battery Percentage'
  message: Critical
  hardware_id: Turtlebot4
  values:
  - key: Battery Percentage
    value: '0.00'
- level: "\x02"
  name: 'turtlebot4_diagnostics: Battery Voltage'
  message: Critical
  hardware_id: Turtlebot4
  values:
  - key: Battery Voltage
    value: '0.00'
- level: "\x01"
  name: 'turtlebot4_diagnostics: Wheel Status'
  message: Disabled
  hardware_id: Turtlebot4
  values:
  - key: Wheel Status
    value: 'False'
- level: "\x02"
  name: 'turtlebot4_diagnostics: Dock Status'
  message: Battery critical, please dock the robot
  hardware_id: Turtlebot4
  values:
  - key: Docked Status
    value: 'False'
- level: "\0"
  name: 'turtlebot4_diagnostics: Hazard Detections'
  message: No hazards detected
  hardware_id: Turtlebot4
  values:
  - key: Hazard Detection
    value: '[]'
- level: "\0"
  name: 'turtlebot4_diagnostics: /scan topic status'
  message: Desired frequency met
  hardware_id: Turtlebot4
  values:
  - key: Events in window
    value: '69'
  - key: Events since startup
    value: '918'
  - key: Duration of window (s)
    value: '9.998405'
  - key: Actual frequency (Hz)
    value: '6.901101'
  - key: Minimum acceptable frequency (Hz)
    value: '4.500000'
  - key: Maximum acceptable frequency (Hz)
    value: '11.000000'
- level: "\0"
  name: 'turtlebot4_diagnostics: /color/preview/image topic status'
  message: Desired frequency met
  hardware_id: Turtlebot4
  values:
  - key: Events in window
    value: '300'
  - key: Events since startup
    value: '4000'
  - key: Duration of window (s)
    value: '9.998055'
  - key: Actual frequency (Hz)
    value: '30.005836'
  - key: Minimum acceptable frequency (Hz)
    value: '4.500000'
  - key: Maximum acceptable frequency (Hz)
    value: '66.000000'
- level: "\x02"
  name: 'turtlebot4_diagnostics: /imu topic status'
  message: No events recorded.
  hardware_id: Turtlebot4
  values:
  - key: Events in window
    value: '0'
  - key: Events since startup
    value: '0'
  - key: Duration of window (s)
    value: '9.997707'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Target frequency (Hz)
    value: '100.000000'
  - key: Minimum acceptable frequency (Hz)
    value: '90.000000'
  - key: Maximum acceptable frequency (Hz)
    value: '110.000000'
- level: "\x02"
  name: 'turtlebot4_diagnostics: /mouse topic status'
  message: No events recorded.
  hardware_id: Turtlebot4
  values:
  - key: Events in window
    value: '0'
  - key: Events since startup
    value: '0'
  - key: Duration of window (s)
    value: '9.997284'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Minimum acceptable frequency (Hz)
    value: '54.900000'
  - key: Maximum acceptable frequency (Hz)
    value: '69.300000'

To Reproduce

Booting the robot, then echoing the /diagnostics topic.

Other notes

I'm running into an issue following the Basic Setup steps. I cant seem to get the robot to move at all. I've been trying to run publish to /cmd_vel and well as the teleop_twist_keyboard command but neither work.

I tried echoing the /diagnostics topic and got this.

[RustyCPR]

Hi @mmorales45,
Sorry to hear you're experiencing issues with your TurtleBot 4 Lite.
As an initial step, could you please confirm that the TB4 Lite is connected to a WiFi network with internet access, and then update the system packages by running: sudo apt update && sudo apt upgrade
After the update completes, let us know if you notice any improvement.
You may also find it helpful to review a similar case here, which includes additional troubleshooting steps: #605
Please keep us posted on the results-we’re happy to assist further.
Rusty

[RustyCPR]

Hi @mmorales45
Are you still experiencing issues with your TB4 Lite?
Thanks,
Rusty