MoveIt: Failed motion planning at joint limits

[sbstorz]

Problem
If a joint is at one of its position limits motion planning might fail if the measured position exceeds the limit. This applies mostly to the real hardware.

For example:

[move_group-1] [INFO] [1765988790.644506212] [move_group.moveit.moveit.ros.move_group.capability]: Using planning pipeline 'ompl'
[move_group-1] [INFO] [1765988790.644574981] [move_group]: Calling PlanningRequestAdapter 'ResolveConstraintFrames'
[move_group-1] [INFO] [1765988790.644601280] [move_group]: Calling PlanningRequestAdapter 'ValidateWorkspaceBounds'
[move_group-1] [INFO] [1765988790.644619120] [move_group]: Calling PlanningRequestAdapter 'CheckStartStateBounds'
[move_group-1] [ERROR] [1765988790.644643359] [move_group.moveit.moveit.ros.check_start_state_bounds]: Joint 'j2' from the starting state is outside bounds by: [0.338003 ] should be in the range [0 ], [0.338 ].
[move_group-1] [ERROR] [1765988790.644681270] [move_group]: PlanningRequestAdapter 'CheckStartStateBounds' failed, because 'Start state out of bounds.'. Aborting planning pipeline.
[move_group-1] [ERROR] [1765988790.644697326] [move_group.moveit.moveit.ros.move_group.move_action]: Generating a plan with planning pipeline failed.
[move_group-1] [INFO] [1765988790.644718190] [move_group.moveit.moveit.ros.move_group.move_action]: FAILURE

In the above case the J2 joint is at 0.338003 m and that violates its limit of 0.338 m. Hence planning fails.

[sbstorz]

TODO:
Since the CheckStartStateBounds no longer "fixes" small limit deviations. This has to be handled in application code.

Simplest workaround:
Clamp joint states in hardware interface to limits

[sbstorz]

For reference the pull request discussing the behavior of CheckStartStateBounds: moveit/moveit2#3143
And another issue discussing this problem moveit/moveit2#3492