TurtleBot 4 Pro — Random Connectivity Failures, Shutdown Issues, Base–Raspberry Link Loss, Controller Fails, Red LEDs, Unstable Behavior

[MHC-CodeSmith]

Robot Model

Turtlebot4 Standard

ROS distro

Jazzy

Networking Configuration

Simple Discovery

OS

Ubuntu 24.04

Built from source or installed?

Installed

Package version

The robot is running the default TurtleBot 4 Jazzy image, exactly as shipped.
I did not change, update, or rebuild any package.
This unit was unpacked and tested with the factory-installed software only.

ubuntu@turtlebot4:~$ dpkg -l | grep turtlebot4
dpkg -l | grep create
ii  ros-jazzy-turtlebot4-base                        2.0.1-2noble.20241025.080249            arm64        Turtlebot4 Base Node
ii  ros-jazzy-turtlebot4-bringup                     2.0.1-2noble.20241028.133441            arm64        Turtlebot4 Robot Bringup
ii  ros-jazzy-turtlebot4-description                 2.0.1-1noble.20241028.132838            arm64        Turtlebot4 Description package
ii  ros-jazzy-turtlebot4-diagnostics                 2.0.1-2noble.20241025.080252            arm64        Turtlebot4 Diagnostics
ii  ros-jazzy-turtlebot4-msgs                        2.0.1-1noble.20240926.010643            arm64        Turtlebot4 Messages
ii  ros-jazzy-turtlebot4-navigation                  2.0.1-1noble.20241028.132320            arm64        Turtlebot4 Navigation
ii  ros-jazzy-turtlebot4-node                        2.0.1-1noble.20241018.082137            arm64        Turtlebot4 Node
ii  ros-jazzy-turtlebot4-robot                       2.0.1-2noble.20241028.134109            arm64        Turtlebot4 Robot Metapackage
ii  ros-jazzy-turtlebot4-setup                       2.0.2-1noble.20241025.080230            arm64        Turtlebot4 setup scripts
ii  ros-jazzy-turtlebot4-tests                       2.0.1-2noble.20241025.080005            arm64        Turtlebot4 System Tests
ii  kpartx                                           0.9.4-5ubuntu8                          arm64        create device mappings for partitions
ii  libxkbcommon-x11-0:arm64                         1.6.0-1build1                           arm64        library to create keymaps with the XKB X11 protocol
ii  ros-jazzy-create3-republisher                    1.0.0-1noble.20241018.082124            arm64        C++ action server exposing a non-systematic coverage behavior
ii  ros-jazzy-irobot-create-control                  3.0.4-1noble.20241028.132250            arm64        Provides the diff-drive controller for the iRobot(R) Create(R) 3 Educational Robot.
ii  ros-jazzy-irobot-create-description              3.0.4-1noble.20241028.132548            arm64        Provides the model description for the iRobot(R) Create(R) 3 Educational Robot.
ii  ros-jazzy-irobot-create-msgs                     3.0.0-2noble.20240922.075031            arm64        Package containing action, message, and service definitions used by the iRobot(R) Create(R) platform
ii  ros-jazzy-launch-testing                         3.4.2-2noble.20240702.054459            arm64        A package to create tests which involve launch files and multiple processes.
ii  ros-jazzy-simple-term-menu-vendor                1.5.7-1noble.20240905.171948            arm64        A Python package which creates simple interactive menus on the command line.
ii  squashfs-tools                                   1:4.6.1-1build1                         arm64        Tool to create and append to squashfs filesystems
ubuntu@turtlebot4:~$ 

Type of issue

Other

Expected behaviour

The TurtleBot 4 Pro should:

connect reliably to Wi-Fi and appear his IP and not just Unknow

maintain stable communication between Create® 3 base ↔ Raspberry Pi

allow clean shutdown via

SSH command,

ROS command, or

physical power button

allow PS4 controller pairing

operate without intermittent red LEDs or random failures

behave consistently, not unpredictably

Actual behaviour

I am experiencing multiple intermittent failures that occur unpredictably and affect basic operation.
Here is a full list, all of which happen randomly on different days:

1. Wi-Fi & Network Instability (including TurtleBot4 Setup Wi-Fi failure)

In addition to the connectivity drops described previously, there is a reproducible issue when trying to configure Wi-Fi using the TurtleBot4 Setup Utility:

When I go via cable or via the internet turtlebot generated by the robot, go to turtlebot setup
and go to the wifi setup,
I can enter the correct SSID and password.

The tool accepts the configuration, but after saving:

The Wi-Fi interface shows Status: unknown

No IP address is assigned

The network never becomes active

Even after:

rebooting the Raspberry Pi,

rebooting the Create® 3 base,

restarting the Setup Utility page,

or reapplying the same Wi-Fi credentials,

the robot still does not connect, and the interface remains in unknown state.

I have also tried switching networks, deleting/re-adding credentials, and using different access points — but the result is the same.

Sometimes the robot does connect, but most of the time it does not, and there is no clear pattern.

Because of this, I often cannot access SSH, cannot read diagnostics, and cannot reliably use ROS.

This behaviour matches parts of:
#177

#533

2. Base ↔ Raspberry Pi Link Problems

The Create® 3 base sometimes loses communication with the Raspberry Pi.

Topics stop publishing, and LEDs change state unexpectedly.

It feels like the robot “disconnects from itself” at random.

3. Shutdown issues

Running sudo shutdown now or sudo poweroff often does nothing.

Pressing the power button normally does not turn off the robot.

Long-press power cycling, as described in the documentation, also fails sometimes.

In several cases the robot simply cannot be turned off in any way, requiring physical battery removal or waiting until battery drains.

4. PS4 Controller problems

Frequent failures to pair over Bluetooth.

LED indicators stay red or blinking indefinitely.

Sometimes it works briefly, then stops working again with no system changes.

5. Random red LED on Create® 3

The Create® 3 base occasionally shows red LED states without any clear pattern.

There is no consistent error code or event that triggers this.

6. Overall inconsistent and unpredictable behaviour

Some days the robot works normally.

Other days, multiple failures occur simultaneously (Wi-Fi, controller, shutdown, base-RPi link).

No consistent way to reproduce failures — behaviour feels random.

These symptoms resemble previous reports from other users:
#177

#533

#432

#187

Error messages

No consistent terminal errors, because issues often happen even without running ROS nodes.
I can provide logs if the team tells me:

ubuntu@turtlebot4:~$ journalctl -u turtlebot4*
-- No entries --
ubuntu@turtlebot4:~$ journalctl -u create3-base*
Failed to add filter for units: No data available
ubuntu@turtlebot4:~$ ros2 topic echo /diagnostics
header:
  stamp:
    sec: 1730141116
    nanosec: 56565127
  frame_id: ''
status:
- level: "\0"
  name: 'oakd: sys_logger'
  message: System Information
  hardware_id: oakd_1844301061493CF500_OAK-D-PRO
  values:
  - key: System Information
    value: "System Information: \n  Leon CSS CPU Usage: 26.156\n  Leon MSS CPU Usage: 2.905\n Ddr Memory Usage: 57.5303\n Ddr Memory Total: 333...."
---
header:
  stamp:
    sec: 1730141116
    nanosec: 169908525
  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: '78'
  - key: Events since startup
    value: '4693'
  - key: Duration of window (s)
    value: '9.999012'
  - key: Actual frequency (Hz)
    value: '7.800771'
  - 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: '17046'
  - key: Duration of window (s)
    value: '9.998973'
  - key: Actual frequency (Hz)
    value: '30.003082'
  - 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: '9.998948'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Minimum acceptable frequency (Hz)
    value: '27.000000'
  - key: Maximum acceptable frequency (Hz)
    value: '38.500000'
- 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: '9.998936'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Minimum acceptable frequency (Hz)
    value: '54.900000'
  - key: Maximum acceptable frequency (Hz)
    value: '69.300000'
---
header:
  stamp:
    sec: 1730141116
    nanosec: 640017940
  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: 1730141117
    nanosec: 56512570
  frame_id: ''
status:
- level: "\0"
  name: 'oakd: sys_logger'
  message: System Information
  hardware_id: oakd_1844301061493CF500_OAK-D-PRO
  values:
  - key: System Information
    value: "System Information: \n  Leon CSS CPU Usage: 26.298\n  Leon MSS CPU Usage: 2.976\n Ddr Memory Usage: 57.5303\n Ddr Memory Total: 333...."
---
header:
  stamp:
    sec: 1730141117
    nanosec: 169932727
  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: '78'
  - key: Events since startup
    value: '4700'
  - key: Duration of window (s)
    value: '9.999992'
  - key: Actual frequency (Hz)
    value: '7.800006'
  - 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: '17076'
  - key: Duration of window (s)
    value: '9.999951'
  - key: Actual frequency (Hz)
    value: '30.000148'
  - 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: '9.999913'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Minimum acceptable frequency (Hz)
    value: '27.000000'
  - key: Maximum acceptable frequency (Hz)
    value: '38.500000'
- 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: '9.999874'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Minimum acceptable frequency (Hz)
    value: '54.900000'
  - key: Maximum acceptable frequency (Hz)
    value: '69.300000'
---
header:
  stamp:
    sec: 1730141117
    nanosec: 640061307
  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: 1730141118
    nanosec: 56547549
  frame_id: ''
status:
- level: "\0"
  name: 'oakd: sys_logger'
  message: System Information
  hardware_id: oakd_1844301061493CF500_OAK-D-PRO
  values:
  - key: System Information
    value: "System Information: \n  Leon CSS CPU Usage: 26.226\n  Leon MSS CPU Usage: 2.965\n Ddr Memory Usage: 57.5303\n Ddr Memory Total: 333...."
---
header:
  stamp:
    sec: 1730141118
    nanosec: 170176352
  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: '78'
  - key: Events since startup
    value: '4708'
  - key: Duration of window (s)
    value: '10.000123'
  - key: Actual frequency (Hz)
    value: '7.799904'
  - 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: '17106'
  - key: Duration of window (s)
    value: '10.000102'
  - key: Actual frequency (Hz)
    value: '29.999693'
  - 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: '10.000103'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Minimum acceptable frequency (Hz)
    value: '27.000000'
  - key: Maximum acceptable frequency (Hz)
    value: '38.500000'
- 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: '10.000106'
  - key: Actual frequency (Hz)
    value: '0.000000'
  - key: Minimum acceptable frequency (Hz)
    value: '54.900000'
  - key: Maximum acceptable frequency (Hz)
    value: '69.300000'
---
header:
  stamp:
    sec: 1730141118
    nanosec: 640160230
  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'
---
^Cubuntu@turtlebot4:~$

To Reproduce

Difficult to reproduce reliably — issues are intermittent.
Typical situations where failures appear:

Turn robot on → sometimes Wi-Fi connects, other times does not.

Try to pair the controller → failure.

Run any ROS 2 node → sometimes robot loses link between RPi and base.

try to control with the controller and can just move the display and the robot dont respond

Try shutdown → robot often ignores shutdown command and stays powered indefinitely.

After several restarts → Create® base shows red LED unexpectedly.

Attempt normal work session → random combination of the above may happen.

Issues occur even when robot is idle.

Other notes

This TurtleBot 4 Pro belongs to Hof University (Germany).

I need to know if this is:

a known Jazzy/TB4 firmware issue,

a battery problem,

a hardware defect in the Create® 3 or Raspberry Pi,

or something requiring replacement/return.

I do not want to perform hard resets or internal procedures without official guidance to avoid voiding warranty.

Attached photos of the unit and box labels (serial numbers included).

[smatarCPR]

Hello @MHC-CodeSmith
Thank you for reaching out on the Turtlebot 4 Github page. I am sorry to hear that your Turtlebot is not meeting expectations. In terms of the issues you are encountering I have the following recommendations/questions:

Intermittent Wi-Fi Connection

• What sort of credentials are required for the Wi-fi network you are attempting to connect to? Is it a standard SSID with WPA2 encrypted password?
• Does this network have any additional network secruites, such as MAC address whitelisting?
• Is this an enterprise network? If so, are you able to test the connection with a mobile hotspot for some time and see if the connection is also unreliable in this state.
• In instances when the wireless IP address of the Raspberry Pi is unknown, you should still be able to SSH over ethernet using the Raspberry Pi's static IP of 192.168.185.3. See this guide for more details - https://turtlebot.github.io/turtlebot4-user-manual/setup/basic.html#troubleshooting
• Another check you can perform is verifying that there are no obstructions over the Raspberry Pi's wireless card - https://turtlebot.github.io/turtlebot4-user-manual/troubleshooting/faq.html#check-for-obstructions

Create 3 Base Shutdown Issue and Red LED

• With regards to the LED being red, does the ring light around the power button turn solid red or is it pulsing red - https://iroboteducation.github.io/create3_docs/hw/face/
• If it is solid red, an error has occurred requiring the Create 3 base to be power cycled. Perhaps the log files from the webserver will have some information on what error was encountered. You can access the webserver by following this guide - https://turtlebot.github.io/turtlebot4-user-manual/setup/basic.html#accessing-the-create-3-webserver From there you should be able to select the Logs tab at the top - https://iroboteducation.github.io/create3_docs/webserver/logs/
• After collecting the logs, I would recommend performing the following steps:

1. Factory reset the Create 3, this option can be found in the about tab - https://iroboteducation.github.io/create3_docs/webserver/about/
2. Upload the latest firmware to the Create 3 - https://iroboteducation.github.io/create3_docs/webserver/update/ - do not attempt the download method, select upload from file and use the following source for the firmware - https://iroboteducation.github.io/create3_docs/releases/overview/

• Following this see what the reliability of the Create 3 is.
• In terms of the shutdown - this could be related to a break in communication between the Create3 and Raspberry Pi, do you notice that when the shutdown commands fail, the COMM light on the Turtlebot 4 top LED board is off?

With regards to the controller, let's address this once the reliability issues with Create 3 and Raspberry Pi have been addressed. This way we can ensure that the lack of driving is not a result of the two devices failing to communicate.

Looking forward to hearing from you soon.
Best Regards,
Saif