Handle unsupported position constraints in OMPL (backport #2417)

[mergify]

This is an automatic backport of pull request #2417 done by Mergify.
Cherry-pick of b0401e9 has failed:

On branch mergify/bp/iron/pr-2417
Your branch is up to date with 'origin/iron'.

You are currently cherry-picking commit b0401e91a.
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Changes to be committed:
	modified:   moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   moveit_planners/ompl/ompl_interface/src/detail/ompl_constraints.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.