message: Fix very rare bug in ESDF integrator.
diff: @@ -84,6 +84,9 @@ void EsdfIntegrator::addNewRobotPosition(const Point& position) {
  esdf_layer_->allocateBlockPtrByIndex(kv.first);
  for (const VoxelIndex& voxel_index : kv.second) {
  + if (!block_ptr->isValidVoxelIndex(voxel_index)) {
  + continue;
  + }
  EsdfVoxel& esdf_voxel = block_ptr->getVoxelByVoxelIndex(voxel_index);
  if (!esdf_voxel.observed) {
  esdf_voxel.distance = -config_.default_distance_m;
  @@ -547,6 +550,7 @@ void EsdfIntegrator::processOpenSet() {
  if (!esdf_block) {
  continue;
  }
  +
  EsdfVoxel& esdf_voxel = esdf_block->getVoxelByVoxelIndex(kv.second);
  // Again, no point updating unobserved voxels.
  