Support open-source Linear Programming solver

[hongkai-dai]

Currently we don't have a very good open-source LP solver in drake.

Some candidates are

• CLP https://github.com/coin-or/Clp, this uses EPL-2. I don't know if we support EPL-2. In WORKSPACE license tracker #4045 we support EPL-1.
• GLOP from google https://github.com/google/or-tools/tree/stable/ortools/glop. It uses Apache License.

@jamiesnape and @jeremyma-tri , do we support EPL-2 license?

[jamiesnape]

@jamiesnape and @jeremyma-tri , do we support EPL-2 license?

Yes.

[jamiesnape]

And we already use CLP as a transitive dependency of dReal via IBEX.

[hongkai-dai]

I would like to add CLP into Drake. @jamiesnape , could you point me to how I should get started to add its build file into drake? Is there a template inside Drake I could use? Thanks a lot!

[jwnimmer-tri]

It's in Ubuntu as https://packages.ubuntu.com/bionic/coinor-libclp-dev and we already depend on it (per dReal, noted upthread):

drake/setup/ubuntu/source_distribution/packages-bionic.txt

Line 3 in faa2301

coinor-libclp-dev

To bring it into workspace, it will look similar to how we do tools/workspace/ipopt. On a quick glance, it seems like the only changes would be modname = "clp" and the licenses block.

[hongkai-dai]

Thanks @jwnimmer-tri ! I just sent PR #14729. I am not sure if I need to change the licenses block, as both CLP and IPOPT use the same EPL 2.0 license https://github.com/coin-or/Ipopt/blob/master/LICENSE?

[jwnimmer-tri]

FYI I'll switch my suggestions over to the PR code, which will be an easier place to discuss.

[hongkai-dai]

We added CLP to Drake.