hey @inmoov yeah, I am suggesting that you should modify your fiducial_follow.launch file. I’m not 100% sure that this is your problem, but certainly it will be affecting things.
I’m not suggesting you try to print 1:1 to match the 14cm scale though, as that won’t change the fact that the fiducial follow app is expecting the fiducial to be 9.82cm, and so will want to stay further away than expected from the fiducial. If you could somehow print a fiducial that was exactly 9.82cm then that would be better.
Probably the safest thing you could do is take the robot somewhere that it can drive without damaging itself or something else. Like, maybe you could find an unused tennis court? I’m sure the court owner might find the whole situation interesting enough to let you use it when no-one else is there.
Once you are somewhere that the robot can reverse without breaking things, you might find that it stops at a certain distance, and then moves backwards and forwards with you and the fiducial.