[workspace] Build IPOPT from source on Ubuntu

On Ubuntu, this is an upgrade from 3.11.9 to 3.14.12. On Ubuntu, we can now remove ipopt from the prereqs setup and skip it during wheel builds. It's licensed as EPL-2.0 so we can statically link it but we do need to distribute a patch file with our changes. We also teach vendor_cxx about gentler option for vendoring, where we only hide the symbols without prefixing them with "drake_vendor". On macOS, Homebrew usually tracks the newest upstream version so the urgency of rebuilding from source is reduced. Building from source would still help with linker issues, but since there is no MUMPS package in Homebrew the work to make it happen is not yet worth the time investment.
RobotLocomotion · May 11, 2023 · af49eb3 · af49eb3
1 parent 8ecb82d
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diff --git a/setup/ubuntu/binary_distribution/packages-focal.txt b/setup/ubuntu/binary_distribution/packages-focal.txt
@@ -1,6 +1,5 @@
 coinor-libclp1
 coinor-libcoinutils3v5
-coinor-libipopt1v5
 default-jre
 jupyter-notebook
 libblas3

diff --git a/setup/ubuntu/binary_distribution/packages-jammy.txt b/setup/ubuntu/binary_distribution/packages-jammy.txt
@@ -1,6 +1,5 @@
 coinor-libclp1
 coinor-libcoinutils3v5
-coinor-libipopt1v5
 default-jre
 jupyter-notebook
 libblas-dev

diff --git a/setup/ubuntu/source_distribution/packages-focal.txt b/setup/ubuntu/source_distribution/packages-focal.txt
@@ -1,7 +1,6 @@
 clang-format-12
 coinor-libclp-dev
 coinor-libcoinutils-dev
-coinor-libipopt-dev
 default-jdk
 file
 gfortran

diff --git a/setup/ubuntu/source_distribution/packages-jammy.txt b/setup/ubuntu/source_distribution/packages-jammy.txt
@@ -1,7 +1,6 @@
 clang-format-12
 coinor-libclp-dev
 coinor-libcoinutils-dev
-coinor-libipopt-dev
 default-jdk
 file
 gfortran

diff --git a/tools/install/libdrake/BUILD.bazel b/tools/install/libdrake/BUILD.bazel
@@ -1,5 +1,6 @@
 package(default_visibility = ["//visibility:private"])
 
+load("@bazel_skylib//lib:selects.bzl", "selects")
 load(
     "@python//:version.bzl",
     "PYTHON_SITE_PACKAGES_RELPATH",
@@ -137,14 +138,23 @@ cc_library(
     }),
 )
 
-# Depend on IPOPT's shared library iff IPOPT is enabled.
+# Depend on IPOPT's shared library iff IPOPT is enabled and we're on a platform
+# that uses the host OS shared library.
+selects.config_setting_group(
+    name = "ipopt_not_shared",
+    match_any = [
+        "//tools:no_ipopt",
+        "//tools/cc_toolchain:linux",
+    ],
+)
+
 cc_library(
     name = "ipopt_deps",
-    deps = select({
+    deps = selects.with_or({
         "//conditions:default": [
             "@ipopt",
         ],
-        "//tools:no_ipopt": [],
+        ":ipopt_not_shared": [],
     }),
 )
 

diff --git a/tools/wheel/BUILD.bazel b/tools/wheel/BUILD.bazel
@@ -1,6 +1,11 @@
 load("@drake//tools/skylark:drake_py.bzl", "drake_py_binary")
 load("//tools/lint:lint.bzl", "add_lint_tests")
 
+exports_files(
+    glob(["**"]),
+    visibility = ["//tools:__subpackages__"],
+)
+
 py_library(
     name = "module_py",
     srcs = ["__init__.py"],

diff --git a/tools/wheel/image/dependencies/projects.cmake b/tools/wheel/image/dependencies/projects.cmake
@@ -90,20 +90,22 @@ set(clp_md5 "f7c25af22d2f03398cbbdf38c8b4f6fd")
 set(clp_dlname "clp-${clp_version}.tar.gz")
 list(APPEND ALL_PROJECTS clp)
 
+# ipopt (requires mumps)
 if(APPLE)
     set(mumps_version 5.4.1)  # Latest available in Ubuntu.
     set(mumps_url
-         "http://archive.ubuntu.com/ubuntu/pool/universe/m/mumps/mumps_${mumps_version}.orig.tar.gz"
+        "http://archive.ubuntu.com/ubuntu/pool/universe/m/mumps/mumps_${mumps_version}.orig.tar.gz"
         "http://mumps.enseeiht.fr/MUMPS_${mumps_version}.tar.gz"
     )
     set(mumps_md5 "93be789bf9c6c341a78c16038da3241b")
     set(mumps_dlname "mumps-${mumps_version}.tar.gz")
     list(APPEND ALL_PROJECTS mumps)
-endif()
 
-# ipopt
-set(ipopt_version 3.11.9)
-set(ipopt_url "https://github.com/coin-or/Ipopt/archive/refs/tags/releases/${ipopt_version}.tar.gz")
-set(ipopt_md5 "55275c202072ad30db25d2b723ef9b7a")
-set(ipopt_dlname "ipopt-${ipopt_version}.tar.gz")
-list(APPEND ALL_PROJECTS ipopt)
+    # This must match the version in tools/workspace/ipopt_internal_fromsource.
+    # The matching is automatically enforced by a linter script.
+    set(ipopt_version 3.14.12)
+    set(ipopt_url "https://github.com/coin-or/Ipopt/archive/refs/tags/releases/${ipopt_version}.tar.gz")
+    set(ipopt_md5 "b2bcb362be4c10eccde02829d3025faa")
+    set(ipopt_dlname "ipopt-${ipopt_version}.tar.gz")
+    list(APPEND ALL_PROJECTS ipopt)
+endif()
diff --git a/tools/wheel/image/dependencies/projects/ipopt.cmake b/tools/wheel/image/dependencies/projects/ipopt.cmake
@@ -1,24 +1,12 @@
-if(APPLE)
-    set(ipopt_extra_dependencies mumps)
-    set(ipopt_mumps_configure_args
-        --with-mumps-lib=-ldmumps\ -lmumps_common\ -lpord\ -lmpiseq
-        --with-mumps-incdir=${CMAKE_INSTALL_PREFIX}/include
-        CPPFLAGS=-I${CMAKE_INSTALL_PREFIX}/include/mumps_seq
-    )
-else()
-    set(ipopt_extra_dependencies)
-    set(ipopt_mumps_configure_args
-        --with-mumps-lib=-ldmumps_seq
-        --with-mumps-incdir=/usr/include
-        CPPFLAGS=-I/usr/include/mumps_seq
-    )
+if(NOT APPLE)
+    message(FATAL_ERROR "mumps should only be built on macOS")
 endif()
 
 ExternalProject_Add(ipopt
     URL ${ipopt_url}
     URL_MD5 ${ipopt_md5}
     DOWNLOAD_NAME ${ipopt_dlname}
-    DEPENDS lapack ${ipopt_extra_dependencies}
+    DEPENDS lapack mumps
     ${COMMON_EP_ARGS}
     BUILD_IN_SOURCE 1
     CONFIGURE_COMMAND ./configure
@@ -28,11 +16,13 @@ ExternalProject_Add(ipopt
         CFLAGS=-fPIC
         CXXFLAGS=-fPIC
         LDFLAGS=-L${CMAKE_INSTALL_PREFIX}/lib
-        ${ipopt_mumps_configure_args}
+        --with-mumps-lflags=-ldmumps\ -lmpiseq\ -lmumps_common\ -lpord
+        --with-mumps-cflags=-I${CMAKE_INSTALL_PREFIX}/include
+        CPPFLAGS=-I${CMAKE_INSTALL_PREFIX}/include/mumps_seq
     BUILD_COMMAND make
     INSTALL_COMMAND make install
     )
 
 extract_license(ipopt
-    Ipopt/LICENSE
+    LICENSE
 )
diff --git a/tools/workspace/BUILD.bazel b/tools/workspace/BUILD.bazel
@@ -50,6 +50,7 @@ drake_py_binary(
         "@fcl_internal//:__pkg__",
         "@gz_math_internal//:__pkg__",
         "@gz_utils_internal//:__pkg__",
+        "@ipopt_internal_fromsource//:__pkg__",
         "@msgpack_internal//:__pkg__",
         "@nlopt_internal//:__pkg__",
         "@qhull_internal//:__pkg__",
@@ -85,6 +86,7 @@ _DRAKE_EXTERNAL_PACKAGE_INSTALLS = ["@%s//:install" % p for p in [
     "fmt",
     "gz_math_internal",
     "gz_utils_internal",
+    "ipopt",
     "lcm",
     "meshcat",
     "msgpack_internal",

diff --git a/tools/workspace/default.bzl b/tools/workspace/default.bzl
@@ -37,6 +37,8 @@ load("@drake//tools/workspace/gz_math_internal:repository.bzl", "gz_math_interna
 load("@drake//tools/workspace/gz_utils_internal:repository.bzl", "gz_utils_internal_repository")  # noqa
 load("@drake//tools/workspace/intel_realsense_ros_internal:repository.bzl", "intel_realsense_ros_internal_repository")  # noqa
 load("@drake//tools/workspace/ipopt:repository.bzl", "ipopt_repository")
+load("@drake//tools/workspace/ipopt_internal_fromsource:repository.bzl", "ipopt_internal_fromsource_repository")  # noqa
+load("@drake//tools/workspace/ipopt_internal_pkgconfig:repository.bzl", "ipopt_internal_pkgconfig_repository")  # noqa
 load("@drake//tools/workspace/lapack:repository.bzl", "lapack_repository")
 load("@drake//tools/workspace/lcm:repository.bzl", "lcm_repository")
 load("@drake//tools/workspace/libblas:repository.bzl", "libblas_repository")
@@ -51,6 +53,7 @@ load("@drake//tools/workspace/libtiff:repository.bzl", "libtiff_repository")
 load("@drake//tools/workspace/meshcat:repository.bzl", "meshcat_repository")
 load("@drake//tools/workspace/mosek:repository.bzl", "mosek_repository")
 load("@drake//tools/workspace/msgpack_internal:repository.bzl", "msgpack_internal_repository")  # noqa
+load("@drake//tools/workspace/mumps_internal:repository.bzl", "mumps_internal_repository")  # noqa
 load("@drake//tools/workspace/mypy_extensions_internal:repository.bzl", "mypy_extensions_internal_repository")  # noqa
 load("@drake//tools/workspace/mypy_internal:repository.bzl", "mypy_internal_repository")  # noqa
 load("@drake//tools/workspace/nanoflann_internal:repository.bzl", "nanoflann_internal_repository")  # noqa
@@ -182,6 +185,10 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         intel_realsense_ros_internal_repository(name = "intel_realsense_ros_internal", mirrors = mirrors)  # noqa
     if "ipopt" not in excludes:
         ipopt_repository(name = "ipopt")
+    if "ipopt_internal_fromsource" not in excludes:
+        ipopt_internal_fromsource_repository(name = "ipopt_internal_fromsource", mirrors = mirrors)  # noqa
+    if "ipopt_internal_pkgconfig" not in excludes:
+        ipopt_internal_pkgconfig_repository(name = "ipopt_internal_pkgconfig")
     if "lapack" not in excludes:
         lapack_repository(name = "lapack")
     if "lcm" not in excludes:
@@ -210,6 +217,8 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         mosek_repository(name = "mosek")
     if "msgpack_internal" not in excludes:
         msgpack_internal_repository(name = "msgpack_internal", mirrors = mirrors)  # noqa
+    if "mumps_internal" not in excludes:
+        mumps_internal_repository(name = "mumps_internal")
     if "mypy_extensions_internal" not in excludes:
         mypy_extensions_internal_repository(name = "mypy_extensions_internal", mirrors = mirrors)  # noqa
     if "mypy_internal" not in excludes:

diff --git a/tools/workspace/ipopt/BUILD.bazel b/tools/workspace/ipopt/BUILD.bazel
@@ -1,6 +1,3 @@
-# This file exists to make our directory into a Bazel package, so that our
-# neighboring *.bzl file can be loaded elsewhere.
-
 load("//tools/lint:lint.bzl", "add_lint_tests")
 
 add_lint_tests()
diff --git a/tools/workspace/ipopt/repository.bzl b/tools/workspace/ipopt/repository.bzl
@@ -1,22 +1,17 @@
-load(
-    "@drake//tools/workspace:pkg_config.bzl",
-    "pkg_config_repository",
-)
+load("@drake//tools/workspace:os.bzl", "os_specific_alias_repository")
 
-def ipopt_repository(
-        name,
-        licenses = [
-            "reciprocal",  # CPL-1.0
-            "unencumbered",  # Public-Domain
-        ],
-        modname = "ipopt",
-        pkg_config_paths = [],
-        homebrew_subdir = "opt/ipopt/lib/pkgconfig",
-        **kwargs):
-    pkg_config_repository(
+# How we build IPOPT depends on which platform we're on.
+def ipopt_repository(name):
+    os_specific_alias_repository(
         name = name,
-        licenses = licenses,
-        modname = modname,
-        pkg_config_paths = pkg_config_paths,
-        **kwargs
+        mapping = {
+            "macOS default": [
+                "ipopt=@ipopt_internal_pkgconfig//:ipopt_internal_pkgconfig",
+                "install=@ipopt_internal_pkgconfig//:install",
+            ],
+            "Ubuntu default": [
+                "ipopt=@ipopt_internal_fromsource//:ipopt",
+                "install=@ipopt_internal_fromsource//:install",
+            ],
+        },
     )
diff --git a/tools/workspace/ipopt_internal_fromsource/BUILD.bazel b/tools/workspace/ipopt_internal_fromsource/BUILD.bazel
@@ -0,0 +1,15 @@
+load("@drake//tools/skylark:drake_py.bzl", "drake_py_unittest")
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+drake_py_unittest(
+    name = "lint_test",
+    data = [
+        ":package.BUILD.bazel",
+        "//tools/wheel:image/dependencies/projects.cmake",
+        "@ipopt_internal_fromsource//:drake_repository_metadata.json",
+        "@ipopt_internal_fromsource//:src/Makefile.am",
+    ],
+    tags = ["lint"],
+)
+
+add_lint_tests()