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I have not used this feature myself, so I don't know for sure that it is actually implemented in moveit and ompl. But some preliminary investigation turned up a few things:
You are not setting all the fields of the JointConstraint message. I would expect joint_name and weight to be mandatory, as weight defaults to 0.0.
If the constraint is still not being applied, do a web search for the property enforce_joint_model_state_space for file ompl_planning.yaml. But setting this to true apparently has other negative side-effects.
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I have not used this feature myself, so I don't know for sure that it is actually implemented in moveit and ompl. But some preliminary investigation turned up a few things:
You are not setting all the fields of the JointConstraint message. I would expect joint_name and weight to be mandatory, as weight defaults to 0.0.
If the constraint is still not being applied, do a web search for the property enforce_joint_model_state_space for file ompl_planning.yaml. But setting this to true apparently has other negative side-effects.
Success may depend on which ompl planner you are using. Some planners may not support this constraint feature?
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