long range localisation drifts off
Hello, I'm running the navigation stack on my turtlebot3 and everything seems to be fine when placing a goal about 5 meters away, but once the goal is about 15m away the localisation of the robot drifts off a lot. After about 10m the scan data does not match the recorded map anymore. The robot thinks it is at the goal (visible in rviz), but in reality is off about 1.5m. I'm using the move_base TEB local planner with the respective tf localisation, and also an own DRL based one that uses amcl_pose as it's localisation.
Am I doing something wrong, or can I fix this somehow?