fix(static_centerline_generator): link error to acados

[Kazunori-Nakajima]

Description

--- stderr: autoware_static_centerline_generator
/usr/bin/ld: warning: libacados.so, needed by /home/autoware/pilot-auto/install/lib/libacados_interface.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_plan_destroy'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_out_get'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_precompute'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_solve'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_config_create'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_in_set'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_out_create'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_solver_opts_set'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_in_create'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_out_destroy'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `external_function_opts_set_to_default'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_solver_create'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_solver_opts_create'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_solver_destroy'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_plan_create'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_solver_opts_set_at_stage'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_dims_set_global'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_setup_qp_matrices_and_factorize'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_dims_set_constraints'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `external_function_external_param_casadi_create'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_get'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_constraints_model_set_external_param_fun'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_dims_create'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_dynamics_model_set_external_param_fun'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_in_set_params_sparse'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_dims_set_opt_vars'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_out_set'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_config_destroy'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_constraints_model_set'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_solver_opts_destroy'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_in_destroy'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_cost_model_set'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `external_function_external_param_casadi_free'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_dims_destroy'
/usr/bin/ld: /home/autoware/pilot-auto/install/lib/libacados_interface.so: undefined reference to `ocp_nlp_dims_set_cost'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/main.dir/build.make:860: main] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:593: CMakeFiles/main.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< autoware_static_centerline_generator [1min 54s, exited with code 2]

We confirmed that build errors occur starting from TIER IV Internal test.
This is likely due to changes in autoware_path_optimizer, so we modified it to load acados within autoware_static_centerline.

Related PR

• core
  • feat(autoware_interpolation): exposing access to coefficients autoware_core#671
• universe
  • feat(autoware_path_optimizer): new path optimizer autoware_universe#11479
• launch
  • feat(autoware_path_optimizer): parameters for acados-based MPT autoware_launch#1716

How was this PR tested?

TIER IV Internal Test

Notes for reviewers

None.

Effects on system behavior

None.

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