Ipopt_Ubuntu Install

This project is intended to install and use NLP Ipopt in the ubuntu ros environment. The programming language is C++ and VSCode. After this, you can run the official example in /Ipopt/examples/hs071_cpp.

Getting System Packages (Compilers,...) sudo apt-get install gcc g++ gfortran git patch wget pkg-config liblapack-dev libmetis-dev
DownLoad BLAS and LAPACK sudo apt-get install libblas-dev liblapack-dev
DownLoad HSL

Go to http://hsl.rl.ac.uk/ipopt.
Register and login, choose to order 'HSL Academic Licence', after one working day, you will receive a download link in your email.
Download 'coinhsl-2023.05.26.zip' (only 1MB). And extract. Change the folder name as coinhsl. Now in my PC, the path is boren@boren:~/Downloads$.

 mkdir ThirdParty
 mv coinhsl ThirdParty/
 mkdir ThirdParty/coinhsl/build
 sudo apt-get install meson
 cd ThirdParty/coinhsl/build

Please pay attention! Please change the path/home/boren to your own account name for the following code.

meson setup --buildtype=release --prefix=/home/boren/Downloads/ThirdParty/ ..  
ninja
ninja install
cd ~/Downloads/ThirdParty
ls #  After this, ThirdParty should has other two folders as 'include' and 'lib'.

Move HSL files (header files .h and library .so) to usr/local, one is include_directories as usr/local/include, another is target_link_directories usr/local/lib. Please pay attention to these two paths where our Ipopt will also be installed.
```
 sudo mv lib/x86_64-linux-gnu/libcoinhsl.so /usr/local/lib
 cd ~/Downloads/ThirdParty
 sudo mv include hsl  # change hsl header folder name to 'hsl'
 sudo mv hsl /usr/local/include  # move hsl header files to /usr/local/include/
 cd /usr/local/lib 
 sudo mv libcoinhsl.so libhsl.so  # the Ipopt find hsl library named 'libhsl.so', so change the name. 
```
Now in the 'include_directories' /usr/local/include, you will see folder named hsl containing hsl header files, and in 'target_link_directories' /usr/local/lib, you will see libhsl.so file. We will costumize CMakeLists.txt according these two paths later.

Install Ipopt
```
 cd ~/Downloads
 git clone https://github.com/coin-or/Ipopt.git
 cd Ipopt
 mkdir build
 ./configure
 make
 make test
 sudo make install
```
Now in 'include_directories' /usr/local/include you can see coin-or folder, which contains the header files of Ipopt, and 'target_link_directories' /usr/local/lib, you can see Ipopt library files.

Run Ipopt Example

Build ros working space. In the path you like, in my case is home path, build ros work space (Please refer to Build ROS WorkSpace, from section 1 to 4.
Copy examples. Copy examples in /home/boren/Ipopt/examples/ ( hs071_main.cpp,hs071_nlp.cpp,hs071_nlp.hpp ), to ros packages src, in my case is opt_ws/src/opt_pack/src, where 'op_ws' is ros working space and 'opt_pack' is ros package.

CMakeLists.txt. Add following codes to CMakeList.txt

include_directories(
${catkin_INCLUDE_DIRS}
"/usr/local/include/coin-or"
)

add_executable(OPT src/hs071_main.cpp src/hs071_nlp.cpp)

target_link_libraries(OPT
${catkin_LIBRARIES}
"/usr/local/lib/libipopt.so"
)

In VSCode terminal,

source ./devel/setup.bash
echo $LD_LIBRARY_PATH
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

Finally, Ctrl + Shift + B compile the package, and you can run rosrun opt_pack OPT VSCode terminal and see the results.
In VSCode, you may see red wavy underline for #include "IpIpoptApplication.hpp" .etc, in this case, simply write as #include "coin-or/IpIpoptApplication.hpp" will be fine.

BorenJ/Ipopt_Ubuntu

Ipopt_Ubuntu Install

Run Ipopt Example