I have run into an issue where by Turtlebot 2 with Kobuki base has a constant yaw drift in the odometry. I know it is supposed to come factory calibrated but is it possible for that calibration to change over time? It used to work just fine but has been having more problems recently. Sometimes if I restart the base it fixes itself but other times it doesn't.

Any ideas what to do here? Can I just run the calibration for the Create base and follow the instructions there or will that not work?