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as answered by @v4hn here: https://github.com/ros-planning/moveit/issues/2941.
The move_group node loads the database on startup and registers the name of the constraint that you defined when you generated the database. To use it for planning you just have to set a path constraint with the same constraint name. Make sure you also add the full constraint specification there as well though because this message is still used to check transitions between the stored states.
| | 2 | No.2 Revision |
as answered by @v4hn here: https://github.com/ros-planning/moveit/issues/2941.
The move_group node loads the database on startup and registers the name of the constraint that you defined when you generated the database. To use it for planning you just have to set a path constraint with the same constraint name. Make sure you also add the full constraint specification there as well though because this message is still used to check transitions between the stored states.
Edit for second question:
You configure the constraint database by setting the folder path as a ros parameter:
<param name="move_group/constraint_approximations_path" value="$(find package)/cadb"/>
I believe any constraint approximation database file you store in that folder will be considered at runtime.
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