Draft: Resolve "Implementation of new nodes creation"

Closes #454, #318, #364, #449, #381, #376, #208, #485

include/core/ceres_wrapper/cost_function_wrapper.h

@@ -58,7 +58,11 @@ inline CostFunctionWrapper::~CostFunctionWrapper() {}
 
 inline bool CostFunctionWrapper::Evaluate(const double* const* parameters, double* residuals, double** jacobians) const
 {
-    return factor_ptr_->evaluate(parameters, residuals, jacobians);
+    auto res = factor_ptr_->evaluate(parameters, residuals, jacobians);
+
+    WOLF_ERROR_COND(not res, "Error evaluating factor ", factor_ptr_->getType(), ": ", factor_ptr_->id());
+
+    return res;
 }
 
 inline FactorBasePtr CostFunctionWrapper::getFactor() const