limit the movit controller to not move more than 40cm behind the table

src/moveit_sorting_controller.cpp

@@ -37,6 +37,16 @@ int main(int argc, char** argv)
 
   MoveItRobotArmController controller{ n, NODE_NAME, robotName };
 
+  // we can only set an absolute workspace here, because we do not have the scene yet!
+  geometry_msgs::Point minPoint, maxPoint;
+  minPoint.x = -.58; // we need 58 free space, i.e. ~40 cm behind the table (if the robot is at -22)
+  minPoint.y = -1;
+  minPoint.z = 0; // the robot can not reach under itself, i.e., into the table
+  maxPoint.x = 1;
+  maxPoint.y = 1;
+  maxPoint.z = 1.5;
+  controller.setWorkspace(minPoint, maxPoint, true);
+
   auto mqttServer = getPrivateParameter<std::string>("mqtt_server", "localhost:1883");
   std::unique_ptr<MqttConnection> mqtt_connection =
       std::make_unique<MqttConnection>(mqttServer, ros::this_node::getName());