The second edition of Frances Kirwan's "An Introduction to Intersection Homology Theory", co-authored by Jonathan Woolf, was published by CRC Press in 2006. You can read the prefaces and table of contents and further details can be found on the Taylor and Francis website. There is also a MathScinet review.

Errata

I'm maintaining a list of errata to the second edition. Please email any contributions to Jonathan Woolf. Thank you!