Unless you have backed off the track deliberately, I would say AllDodge has it correct.
You probably have a leaky grease piston in the track tensioner, letting the track slack off.
I say this because the idler does not look like it is fully forward and maxing out the track takeup travel. Once you fix the takeup cylinder you will be able to tell if you still have excess track and need to take out a link or two.
Most any outfit that works on heavy equipment (dozers, excavators and the like) will either have the stuff to take a link out or know who can do it for you. It isn't terribly complicated but you need a special press to get a track pin out--they need to be able to push about 100 tons.
In reality, your undercarrage is probably worn out but to fix it properly would probably cost close to 5 figures.
YMMV
Jon.