Requested to eliminate a key that is not in the factors

[GPrathap]

I am using develop branch and I have encountered this issue when I want to extend this example with IncrementalFixedLagSmoother. It ran a few iterations and then gave this error. Not sure how to solve it. Here I attached the response when it fails.

		Factor Graph:
		size: 14
		
		Factor 0:   keys = { 14 }
		  noise model: unit (2) 
		
		Factor 1: BetweenFactor(12,14)
		  measured:  (-0.20871, -1.8819e-05, 3.2187e-05)
		isotropic dim=3 sigma=0.01
		
		Factor 2: BearingRangeFactor
		Factor 2:   keys = { 14 179 }
		  noise model: unit (2) 
		ExpressionFactor with measurement: bearing : 0.1352
		range  4.9657
		
		Factor 3: BearingRangeFactor
		Factor 3:   keys = { 14 195 }
		  noise model: unit (2) 
		ExpressionFactor with measurement: bearing : -0.27905
		range  2.3177
		
		Factor 4: BearingRangeFactor
		Factor 4:   keys = { 14 197 }
		  noise model: unit (2) 
		ExpressionFactor with measurement: bearing : -0.13816
		range  4.9287
		
		Factor 5: BearingRangeFactor
		Factor 5:   keys = { 14 161 }
		  noise model: unit (2) 
		ExpressionFactor with measurement: bearing : 0.38201
		range  5.2839
		
		Factor 6: BearingRangeFactor
		Factor 6:   keys = { 14 215 }
		  noise model: unit (2) 
		ExpressionFactor with measurement: bearing : -0.38549
		range  5.2926
		
		Factor 7: BearingRangeFactor
		Factor 7:   keys = { 14 171 }
		  noise model: unit (2) 
		ExpressionFactor with measurement: bearing : 3.0486
		range  6.4876
		
		Factor 8: BearingRangeFactor
		Factor 8:   keys = { 14 173 }
		  noise model: unit (2) 
		ExpressionFactor with measurement: bearing : 2.9632
		range  3.5342
		
		Factor 9: BearingRangeFactor
		Factor 9:   keys = { 14 191 }
		  noise model: unit (2) 
		ExpressionFactor with measurement: bearing : -2.9422
		range  3.5853
		
		Factor 10: BearingRangeFactor
		Factor 10:   keys = { 14 189 }
		  noise model: unit (2) 
		ExpressionFactor with measurement: bearing : -3.0251
		range  6.4933
		
		Factor 11: BearingRangeFactor
		Factor 11:   keys = { 14 153 }
		  noise model: unit (2) 
		ExpressionFactor with measurement: bearing : 2.8574
		range  6.8032
		
		Factor 12: BearingRangeFactor
		Factor 12:   keys = { 14 207 }
		  noise model: unit (2) 
		ExpressionFactor with measurement: bearing : -2.8337
		range  6.8001
		
		Factor 13: BearingRangeFactor
		Factor 13:   keys = { 14 135 }
		  noise model: unit (2) 
		ExpressionFactor with measurement: bearing : 2.697
		range  7.4595
		
		
		Initial Estimate:
		
		Values with 2 values:
		Value 14: (gtsam::Pose2)
		(27.89, -29.051, -1.4319)
		
		Value 195: (Eigen::Matrix<double, 2, 1, 0, 2, 1>)
		[
		        27.55;
		        -31.4
		]
		terminate called after throwing an instance of 'std::runtime_error'
		  what():  Requested to eliminate a key that is not in the factors

[GPrathap]

I believe this is a bug, when I use BatchFixedLagSmoother with the same setup it works fine.