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feat(ansible): add acados role (#6835)
Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
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‎ansible/playbooks/openadkit.yaml‎

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when: module == 'all' and install_devel=='y'
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# Module specific dependencies
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- role: autoware.dev_env.acados
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when: module == 'all'
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- role: autoware.dev_env.geographiclib
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when: module == 'perception-localization' or module == 'all'
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- role: autoware.dev_env.cuda

‎ansible/playbooks/setup_acados.yaml‎

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- name: Setup acados
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hosts: localhost
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connection: local
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roles:
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- role: autoware.dev_env.acados

‎ansible/playbooks/universe.yaml‎

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when: rosdistro == 'humble'
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# Autoware module dependencies
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- role: autoware.dev_env.acados
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- role: autoware.dev_env.geographiclib
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- role: autoware.dev_env.cuda
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when: prompt_install_nvidia == 'y'

‎ansible/roles/acados/README.md‎

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# Setup acados
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Installs [acados](https://github.com/acados/acados), a fast and embedded solver for nonlinear optimal control, from source.
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## What it does
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1. Clones the acados repository (shallow) to `/opt/acados`
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2. Initializes submodules (shallow)
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3. Builds and installs acados in-tree with `QPOASES` and position-independent code enabled
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4. Downloads the [tera renderer](https://github.com/acados/tera_renderer) binary to `/opt/acados/bin/t_renderer` (supports `x86_64` and `aarch64`)
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5. Creates a Python virtual environment at `/opt/acados/.venv`
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6. Installs `casadi`, `sympy`, and `acados_template` (editable) in the venv
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7. Adds `CMAKE_PREFIX_PATH`, `ACADOS_SOURCE_DIR`, and `LD_LIBRARY_PATH` to the user's `.bashrc`
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## Installation ⭐
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Install ansible following the instructions in the [ansible installation guide](../../README.md#ansible-installation).
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```bash
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cd ~/autoware # The root directory of the cloned repository
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ansible-galaxy collection install -f -r "ansible-galaxy-requirements.yaml"
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```
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This step should be repeated when the ansible directory is updated.
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```bash
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ansible-playbook autoware.dev_env.setup_acados --ask-become-pass
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```
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## Directory layout
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After running, `/opt/acados` contains both the source tree and installed artifacts:
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```text
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/opt/acados/
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├── .venv/ # Python virtual environment
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├── bin/t_renderer # tera renderer binary
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├── build/ # cmake build directory
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├── cmake/ # acadosConfig.cmake (used by find_package)
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├── lib/ # built shared libraries
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├── include/ # headers
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├── interfaces/ # acados_template Python package (installed to .venv)
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├── external/ # submodules (qpoases, etc.)
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└── ... # remaining source tree
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```
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## Usage in CMake
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After provisioning, any CMake project can use acados with:
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```cmake
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find_package(acados REQUIRED)
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target_link_libraries(your_target PRIVATE acados)
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```
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No additional path configuration is needed, `CMAKE_PREFIX_PATH` is set via `.bashrc`.
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## Using the Python interface during `colcon build`
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If your ROS 2 package generates acados C code at build time (e.g. via a Python script that uses `acados_template` and `casadi`), you need to source the venv so the code-generation script can find the installed packages.
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The Ansible role already exports `ACADOS_SOURCE_DIR` and `LD_LIBRARY_PATH` in `.bashrc`, so those are available to `colcon build` as long as you've sourced your shell. The only extra step is pointing CMake at the venv Python so `casadi`, `sympy`, and `acados_template` are importable:
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```cmake
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find_program(ACADOS_PYTHON NAMES python3 PATHS $ENV{ACADOS_SOURCE_DIR}/.venv/bin NO_DEFAULT_PATH)
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add_custom_command(
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OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/generated/acados_solver.c
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COMMAND ${ACADOS_PYTHON} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/generate_solver.py
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--output-dir ${CMAKE_CURRENT_BINARY_DIR}/generated
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DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/generate_solver.py
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COMMENT "Generating acados solver C code"
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)
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```
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The generated C code is then compiled as part of your normal CMake target, no Python dependency at runtime.
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## Requirements
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- CMake
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- A C compiler (gcc/clang)
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- `make`
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- `git`
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- `python3` with `venv` module (`python3-venv` on Ubuntu)
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## Idempotency
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The role is safe to run multiple times. The git clone resets any local modifications, and the build steps re-run on each invocation to ensure correctness when the version is changed. The `.bashrc` entries use `lineinfile` with regex matching to avoid duplication. The venv creation is skipped if it already exists (`creates` guard).

‎ansible/roles/acados/defaults/main.yaml‎

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acados_version: v0.5.3
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acados_tera_renderer_version: v0.2.0
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acados_pip_packages:
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- casadi
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- sympy

‎ansible/roles/acados/meta/main.yaml‎

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‎ansible/roles/acados/tasks/main.yaml‎

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- name: Clone acados repository (shallow) with submodules
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become: true
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ansible.builtin.git:
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repo: https://github.com/acados/acados.git
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dest: /opt/acados
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version: "{{ acados_version }}"
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depth: 1
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force: true
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recursive: true
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- name: Create build directory
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become: true
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ansible.builtin.file:
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path: /opt/acados/build
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state: directory
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mode: "0755"
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# cspell:ignore DACADOS
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- name: Configure acados with CMake
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become: true
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ansible.builtin.command:
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cmd: >
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cmake
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-DACADOS_WITH_QPOASES=ON
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-DCMAKE_POSITION_INDEPENDENT_CODE=ON
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..
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chdir: /opt/acados/build
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changed_when: false
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- name: Build and install acados
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become: true
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ansible.builtin.command:
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cmd: make install -j{{ ansible_processor_vcpus }}
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chdir: /opt/acados/build
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changed_when: false
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- name: Create acados bin directory
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become: true
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ansible.builtin.file:
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path: /opt/acados/bin
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state: directory
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mode: "0755"
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- name: Set tera renderer architecture
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ansible.builtin.set_fact:
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acados_tera_arch: "{{ {'x86_64': 'amd64', 'aarch64': 'arm64'}[ansible_architecture] }}"
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- name: Download tera renderer
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become: true
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ansible.builtin.get_url:
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url: https://github.com/acados/tera_renderer/releases/download/{{ acados_tera_renderer_version }}/t_renderer-{{ acados_tera_renderer_version }}-linux-{{ acados_tera_arch }}
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dest: /opt/acados/bin/t_renderer
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mode: "0755"
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# ---------- Python virtual environment ----------
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- name: Create acados Python virtual environment
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become: true
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ansible.builtin.command:
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cmd: python3 -m venv /opt/acados/.venv
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creates: /opt/acados/.venv/bin/activate
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- name: Upgrade pip inside the virtual environment
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become: true
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ansible.builtin.command:
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cmd: /opt/acados/.venv/bin/pip install --upgrade pip
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changed_when: false
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- name: Install Python packages in acados venv
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become: true
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ansible.builtin.command:
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cmd: /opt/acados/.venv/bin/pip install {{ acados_pip_packages | join(' ') }}
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changed_when: false
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- name: Install acados_template (editable) in acados venv
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become: true
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ansible.builtin.command:
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cmd: /opt/acados/.venv/bin/pip install -e /opt/acados/interfaces/acados_template
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changed_when: false
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# ---------- Environment (.bashrc) ----------
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- name: Add acados CMAKE_PREFIX_PATH to .bashrc
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ansible.builtin.lineinfile:
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path: "{{ ansible_env.HOME }}/.bashrc"
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line: export CMAKE_PREFIX_PATH="/opt/acados:${CMAKE_PREFIX_PATH}"
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regexp: CMAKE_PREFIX_PATH.*acados
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state: present
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- name: Add ACADOS_SOURCE_DIR to .bashrc
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ansible.builtin.lineinfile:
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path: "{{ ansible_env.HOME }}/.bashrc"
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line: export ACADOS_SOURCE_DIR="/opt/acados"
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regexp: ACADOS_SOURCE_DIR
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state: present
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- name: Add acados LD_LIBRARY_PATH to .bashrc
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ansible.builtin.lineinfile:
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path: "{{ ansible_env.HOME }}/.bashrc"
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line: export LD_LIBRARY_PATH="/opt/acados/lib:${LD_LIBRARY_PATH}"
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regexp: LD_LIBRARY_PATH.*acados
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state: present

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