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Handle unsupported position constraints in OMPL (backport #2417) #2621

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Handle unsupported position constraints in OMPL (backport #2417) #2621

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Commits on Dec 19, 2023

  1. Handle unsupported position constraints in OMPL (#2417) 

    * Handle unsupported position constraints in OMPL

OMPL constrained planning assumes that all position constraints have three
dimensions, meaning that they are represented by a BOX bounding volume.
If another shape is used (like a SPHERE from moveit_core/kinematic_constraints/utils.hpp),
the constraint adapter implementation will produce a segfault because of
the lack of dimensions. This fix prevents this by checking for the
required BOX type.

* Add warning if more than one position primitive is used

---------

Co-authored-by: Sebastian Jahr <[email protected]>
(cherry picked from commit b0401e9)

# Conflicts:
#	moveit_planners/ompl/ompl_interface/src/detail/ompl_constraints.cpp
    @henningkayser @mergify
    henningkayser authored and mergify[bot] committed Dec 19, 2023
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