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There are many factors that could cause drifting, the further the distance error accumulates and there will be a discrepancy between the actual position and the position the robot thinks is located.

Things to consider are your odometry, costmap and planner parameters:

There is a good guide: https://kaiyuzheng.me/documents/navguide.pdf

And more information: http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide