Issues with Pairing Controller

[Leo-Gut28]

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

Simple Discovery

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

1.0.0-1jammy.20240530.114115 (ros-humble-turtlebot4-desktop)

Expected behaviour

Controller light turns blue when home button is pressed

Actual behaviour

Light blinks white/light blue as if it the controller isn't paired

Error messages

ubuntu@ubuntu:~$ systemctl status bluetooth
● bluetooth.service - Bluetooth service
     Loaded: loaded (/lib/systemd/system/bluetooth.service; enabled; vendor preset: enabled)
     Active: active (running) since Fri 2024-07-26 17:57:46 UTC; 9min ago
       Docs: man:bluetoothd(8)
   Main PID: 1438 (bluetoothd)
     Status: "Running"
      Tasks: 1 (limit: 4422)
     Memory: 2.0M
        CPU: 541ms
     CGroup: /system.slice/bluetooth.service
             └─1438 /usr/lib/bluetooth/bluetoothd

Jul 26 17:57:47 ubuntu bluetoothd[1438]: Failed to set privacy: Rejected (0x0b)
Jul 26 17:57:51 ubuntu bluetoothd[1438]: src/adv_monitor.c:btd_adv_monitor_power_down() Unexpected NULL btd_adv_monitor_manager object upon power down
Jul 26 17:58:21 ubuntu bluetoothd[1438]: profiles/input/device.c:ioctl_is_connected() Can't get HIDP connection info
Jul 26 17:58:52 ubuntu bluetoothd[1438]: profiles/input/device.c:control_connect_cb() connect to A0:5A:5D:7E:71:02: Function not implemented (38)
Jul 26 17:59:14 ubuntu bluetoothd[1438]: profiles/input/device.c:ioctl_is_connected() Can't get HIDP connection info
Jul 26 17:59:19 ubuntu bluetoothd[1438]: profiles/input/device.c:control_connect_cb() connect to A0:5A:5D:7E:71:02: Host is down (112)

To Reproduce

I ran into some issues so I had to reflash the SD card following the instructions here. I downloaded the 'turtlebot4_standard_humble_1.0.0.zip', and got the turtlebot4 up and running again. Controller didn't appear to be paired so i followed the instructions to connect the controller.

Other notes

It says that the controller is paired, I've tried removing it and then repairing but nothing seems to work.

[RustyCPR]

Hi @Leo-Gut28

There are a few tickets that have addressed this issue.

1. Can you try the instructions here: Raspberry Pi IP: "Unknown" #369 (comment)

2. There is also a pairing script another customer created that helps with the BT pairing process, download the file and run it locally: Issue with Bluetooth Pairing of Controller and Robot #342 (comment)

If you are still seeing errors please share the full terminal outputs from the untrust / remove / trust / pair and connect commands being run in the terminal.

Regards,
Rusty