[mpc_path_planning-17] CasADi - 2023-01-19 21:10:35 WARNING(".../casadi/core/plugin_interface.hpp:322: Assertion "handle!=nullptr" failed:
[mpc_path_planning-17] PluginInterface::load_plugin: Cannot load shared library 'libcasadi_nlpsol_ipopt.so':
[mpc_path_planning-17] (
[mpc_path_planning-17] Searched directories: 1. casadipath from GlobalOptions
[mpc_path_planning-17] 2. CASADIPATH env var
[mpc_path_planning-17] 3. PATH env var (Windows)
[mpc_path_planning-17] 4. LD_LIBRARY_PATH env var (Linux)
[mpc_path_planning-17] 5. DYLD_LIBRARY_PATH env var (osx)
[mpc_path_planning-17] A library may be 'not found' even if the file exists:
[mpc_path_planning-17] * library is not compatible (different compiler/bitness)
[mpc_path_planning-17] * the dependencies are not found
[mpc_path_planning-17] )
[mpc_path_planning-17] Tried '' :
[mpc_path_planning-17] Error code: libcasadi_nlpsol_ipopt.so: cannot open shared object file: No such file or directory
[mpc_path_planning-17] Tried '.' :
[mpc_path_planning-17] Error code: ./libcasadi_nlpsol_ipopt.so: cannot open shared object file: No such file or directory") [.../casadi/core/plugin_interface.hpp:171]
インストール時に以下のオプションを有効にする
cmake -DWITH_IPOPT=true ..
CMakeLists.txtの場合
cmake_minimum_required(VERSION 3.5)
project(casadi_ament)
find_package(ament_cmake REQUIRED)
include(ExternalProject)
ExternalProject_Add(casadi
GIT_REPOSITORY <https://github.com/casadi/casadi.git>
GIT_TAG master
CMAKE_ARGS
-DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/casadi_install
-DWITH_IPOPT=true #これを追加
)
install(
DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/casadi_install/
DESTINATION ${CMAKE_INSTALL_PREFIX}
)
ament_export_include_directories(include)
ament_export_libraries(casadi)
ament_package()