So I'm running a two tracked robot with lidar. (linorobot) on Melodic. When teleoperating if you hold down forward too long and release the robot keeps going forward for a bit. The same seems to happen when the robot is navigating its self. It makes it to its goal if it only makes small drives and small turns, but if it has a long run it just keeps driving into a wall. All along rviz shows the robot where it's supposed to be, but always missing its plan. When it hits the wall it seems to be replanning to go back but the wheels keep turning as if they have pent up "forward". Anyone know what's causing this behavior?

Could it be because the tracks are not being calculated correctly? I've entered the wheel diameter as one of the wheels that the tracks roll over.  Is this correct? 

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image of robot