[workspace] Build IPOPT from source on Ubuntu

setup/ubuntu/binary_distribution/packages-focal.txt

@@ -1,6 +1,5 @@
 coinor-libclp1
 coinor-libcoinutils3v5
-coinor-libipopt1v5
 default-jre
 jupyter-notebook
 libblas3

setup/ubuntu/binary_distribution/packages-jammy.txt

@@ -1,6 +1,5 @@
 coinor-libclp1
 coinor-libcoinutils3v5
-coinor-libipopt1v5
 default-jre
 jupyter-notebook
 libblas-dev

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

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

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": [],
     }),
 )
 

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"],

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()

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
 )

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",

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:

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()

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",
+            ],
+        },
     )

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()