interesting, although I didn’t observe you moving towards the robot in that video though…
One thing though, if you look in the definition of the fiducial_follow launch file, you can see the argument
fiducial_len, which by default is set to
When I printed the fiducials out on a4 without turning off scaling they came out as 0.136m wide. Perhaps fiducial follow thinks that your fiducial is much too big and magni is backing off to make it look smaller?
One way to fix this would be to measure (to within the mm) the actual size of your fiducial patch and then update your launch file accordingly.
Also, do you have access to a larger outdoor area where you can test this without potentially damaging your magni or a table?