"multi_session" received signal SIGABRT, Aborted

[HuaYuXiao]

roslaunch better_fastlio2 multi_session.launch

报错日志如下：

easonhua@ubuntu:~$ roslaunch better_fastlio2 multi_session.launch 
... logging to /home/easonhua/.ros/log/03c513e2-4f78-11f0-9ef5-55b6b65c3c6b/roslaunch-ubuntu-7653.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/easonhua/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://ubuntu:40603/

SUMMARY
========

PARAMETERS
 * /multi_session/central_sess_name: data_lio
 * /multi_session/iteration: 3
 * /multi_session/query_sess_name: 01
 * /multi_session/save_directory: /data_lio/0106/
 * /multi_session/sessions_dir: /home/easonhua/ea...
 * /rosdistro: noetic
 * /rosversion: 1.17.0

NODES
  /
    multi_session (better_fastlio2/multi_session)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[multi_session-1]: started with pid [7674]
process[rviz-2]: started with pid [7675]
Reading symbols from /home/easonhua/easondrone_ws/devel_isolated/better_fastlio2/lib/better_fastlio2/multi_session...
(No debugging symbols found in /home/easonhua/easondrone_ws/devel_isolated/better_fastlio2/lib/better_fastlio2/multi_session)
Starting program: /home/easonhua/easondrone_ws/devel_isolated/better_fastlio2/lib/better_fastlio2/multi_session __name:=multi_session __log:=/home/easonhua/.ros/log/03c513e2-4f78-11f0-9ef5-55b6b65c3c6b/multi_session-1.log
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffe56c5700 (LWP 7718)]
[New Thread 0x7fffe4ec4700 (LWP 7719)]
[New Thread 0x7fffdffff700 (LWP 7720)]
[New Thread 0x7fffdf7fe700 (LWP 7721)]
[INFO] [1750661319.203288331]: ----> multi-session starts.
load /home/easonhua/easondrone_ws/src/slam/better_fastlio2/data_lio/globalMap.pcd size: 20353
[INFO] [1750661319.220448970]:  Load sessions' pose data from: /home/easonhua/easondrone_ws/src/slam/better_fastlio2/
[INFO] [1750661319.220910108]:  Session loaded: /home/easonhua/easondrone_ws/src/slam/better_fastlio2/data_lio/singlesession_posegraph.g2o
[INFO] [1750661319.221009592]:  - num nodes: 0
global map size: 20353
[INFO] [1750661319.227759144]:  Map loaded: /home/easonhua/easondrone_ws/src/slam/better_fastlio2/data_lio/globalMap.pcd
PCDs are loaded (data_lio)
SCDs are loaded (data_lio)
[INFO] [1750661319.229664844]:  Total : 1 sessions are loaded.
 — data_lio (is central: true)
[INFO] [1750661319.230109484]: ----> pose-graph optimization.
----------  current estimate -----------
***** variable values after optimization3 *****
----------  sc estimate -----------
terminate called after throwing an instance of 'std::out_of_range'
  what():  map::at

Thread 1 "multi_session" received signal SIGABRT, Aborted.
__GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
50	../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) bt
#0  __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
#1  0x00007ffff4ad3859 in __GI_abort () at abort.c:79
#2  0x00007ffff4eef8d1 in ?? () from /lib/x86_64-linux-gnu/libstdc++.so.6
#3  0x00007ffff4efb37c in ?? () from /lib/x86_64-linux-gnu/libstdc++.so.6
#4  0x00007ffff4efb3e7 in std::terminate() () from /lib/x86_64-linux-gnu/libstdc++.so.6
#5  0x00007ffff4efb699 in __cxa_throw () from /lib/x86_64-linux-gnu/libstdc++.so.6
#6  0x00007ffff4ef233c in std::__throw_out_of_range(char const*) () from /lib/x86_64-linux-gnu/libstdc++.so.6
#7  0x00007ffff5adbb2f in std::map<int, MultiSession::Session, std::less<int>, std::allocator<std::pair<int const, MultiSession::Session> > >::at(int const&) () from /home/easonhua/easondrone_ws/devel_isolated/better_fastlio2/lib/libincremental_mapping.so
#8  0x00007ffff5abd03b in MultiSession::IncreMapping::detectInterSessionSCloops() () from /home/easonhua/easondrone_ws/devel_isolated/better_fastlio2/lib/libincremental_mapping.so
#9  0x00007ffff5aba6d1 in MultiSession::IncreMapping::run(int) () from /home/easonhua/easondrone_ws/devel_isolated/better_fastlio2/lib/libincremental_mapping.so
#10 0x000055555564d865 in main ()