(Hi Yarbo Folks! I’m providing some detailed feedback on something I’ve seen with the recent navigation/Labeling update.)
ISSUE: Snowblower attempts to return through most of a meter of tough snow despite having other available routes. The navigation used when you have Labeled Areas may not be strict enough or find all possible routes before defaulting to cutting across an Area with a different Label from the module.
I have Snowblower and Mower Areas labeled on the map, and with the recent FW/App changes the navigation should prioritize those based on the attached module. In my case the return navigation seemed to ignore the Area Label and attempted to dig through a pile of snow to get to the docking station, despite having (and having used!) a Pathway or one of two Sidewalks to get to where it was working.
WORKAROUND: Work Plan was just SnowblowerArea. Using Work Plan Sidewalk1, SnowblowerArea, Sidewalk2 seems to trick navigation, although I haven’t confirmed that 100%.
DETAIL: See…
There is a SnowblowerArea at the bottom of the picture, Labeled for Snowblower. All other Areas are labeled Mower. Yes, it is an OVERLAP, which is a no-no, but this is real life where there are overlaps on my lawn in front of stacks of firewood.
A Pathway and two Sidewalks go to/from this SnowblowerArea, allowing navigation to/from the Docking Station. The rover has three potential navigation routes (hard to see on the map, but they are there).
Work Plan that shows this: From the Docking Station, do the SnowblowerArea at the bottom of the pic. Yep, simple. I expect it to use the Pathway and return the same way.
Results: The rover gleefully heads down the Pathway (or Sidewalk1/2?) and clears the SnowblowerArea. At the end, however, the rover finishes and attempts to return to the Docking Station through the MowerArea (see the white “Attempt” line on the map). As there’s a pile of snow there (well over half a meter), that’s a no-go.
Desired Result: The navigation should prioritize Areas labeled for Snowblower with the snowblower module, including overlapping Areas where it was just working. It should use Pathways and Sidewalks attached to that snowblower-Labeled Area to navigate as a priority over cutting across Areas not labeled for snowblowing, even if the non-Snowblower Areas are more direct.
See the above WORKAROUND for what I think works, not entirely sure, as it’s part of a larger Work Plan.
Additional info: The view from the Docking Station…
The Work Plan has it go to the wood stack at the top center of the picture. The SnowblowerArea is along that wood stack. The snowblower wanted to munch through that big pile of snow to get back to the Docking Station – it was not going to happen, and now you see why.
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(BTW – thank you, Yarbo Team, for helping out my plight with your navigation mods to “prioritize” map Labeling in navigation. The navigation change mid-season threw me for a loop, and I’ve “fixed it” enough to get through this season, but it has helped. As you may recall, I use the snowblower across my property, including overlapped snowblower areas on top of large mowing areas. Overall I have been able to get Yarbo to go and do what I need this winter, although I’ve seen some odd navigation choices, much of which I’ve worked around. So THANK YOU for keeping this use case in mind. I am hopeful your updates mean I won’t have as many mapping changes to do come mowing season and can have one map that does everything.)
