启动报错，我该怎样开始调试？

[haohaoalt]

setting /run_id to cbc710a4-d390-11ed-afc1-00d861d6168c
process[rosout-1]: started with pid [21215]
started core service [/rosout]
process[bag-2]: started with pid [21218]
process[ssl_slam2_laser_processing_node-3]: started with pid [21222]
process[ssl_slam2_odom_estimation_mapping_node-4]: started with pid [21224]
process[ssl_slam2_map_optimization_node-5]: started with pid [21229]
process[baselink2cam_tf-6]: started with pid [21231]
process[rviz-7]: started with pid [21232]
process[ssl_slam2/trajectory_server_ssl_slam-8]: started with pid [21233]
double free or corruption (out)
[ssl_slam2_map_optimization_node-5] process has died [pid 21229, exit code -6, cmd /home/hao007/ssl2_ws/devel/lib/ssl_slam2/ssl_slam2_map_optimization_node __name:=ssl_slam2_map_optimization_node __log:=/home/hao007/.ros/log/cbc710a4-d390-11ed-afc1-00d861d6168c/ssl_slam2_map_optimization_node-5.log].
log file: /home/hao007/.ros/log/cbc710a4-d390-11ed-afc1-00d861d6168c/ssl_slam2_map_optimization_node-5*.log
double free or corruption (out)
[ssl_slam2_odom_estimation_mapping_node-4] process has died [pid 21224, exit code -6, cmd /home/hao007/ssl2_ws/devel/lib/ssl_slam2/ssl_slam2_odom_estimation_mapping_node __name:=ssl_slam2_odom_estimation_mapping_node __log:=/home/hao007/.ros/log/cbc710a4-d390-11ed-afc1-00d861d6168c/ssl_slam2_odom_estimation_mapping_node-4.log].
log file: /home/hao007/.ros/log/cbc710a4-d390-11ed-afc1-00d861d6168c/ssl_slam2_odom_estimation_mapping_node-4*.log
[ WARN] [1680685438.207610937, 1613437896.249689627]: No transform between frames map and base_link available after 1613437896.249690 seconds of waiting. This warning only prints once.

[yxxzhuzhuxia]

something wrong with gtsam