feat(autoware_path_optimizer): new path optimizer

[PanConChicharron]

Description

Design:
https://tier4.atlassian.net/wiki/spaces/~712020794ae44077c44b7e9a5aa2cb085494fb/pages/3801186884/MPT+Redesign

Results after Integration:
https://tier4.atlassian.net/wiki/spaces/~712020794ae44077c44b7e9a5aa2cb085494fb/pages/3857515047/Integration+with+Autoware

Core changes:

• feat(autoware_interpolation): exposing access to coefficients autoware_core#671

Launcher changes:

• feat(autoware_path_optimizer): Added param for acados autoware_launch#1716

Related links

Following should be merged first:

• feat(ansible): add acados role autoware#6835

Private Links:

• TIER IV internal link

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[mitsudome-r]

minutes from meeting

Potential solutions to install acados library:

• Option1: create a acados_vendor as a ROS package and depend on the package
  • cons: we have to maintain the vendor package ourselves
• Option 2 install ansible as library to the system. refer to the library from colcon
  • ci: ansible role for acados and tera-renderer autoware#6831
• Option 3: push acados generated code instead of original python build script
  • we will have a README with instructions to explain how people can build scripts through virtual environment generation
  • cons: We also plan to create other packages that depend on acados. We don't want to have many packages that has complex way of building

General notes:

• we still need build steps described in CMakeLitsts.txt
• Since it requires some external python libraries, we need to use virtual environment
  • it fails to install casadi from rosdep without PIP_BREAK_SYSTEM_PACKAGES=1 in Ubuntu 24.04
  • example: we could create a virtual environment in ansible, then refer to it from CMakeLitsts.txt
    • we can install it under ~/autoware_venvs/acados
    • we could add an argument to ansilble scripts to select which directory to install the virtual environment

Conclusion:

• Remove rust role from ansible
• Remove acados and tera_renderer from autoware.repos file
• Create a new role for acados
  • clone acados into /opt/acados/src (or maybe /opt/autoware/acados)
  • build acados
    • install it under /opt/acados/install
  • install tera_renderer binary from release page
    • system level binary directory (TBD)
    • ansible should be able to install different binaries for target cpu architecture (arm64/amd64)
  • could create a virtual environment for acados under /opt/acados/.venv
    • create venv, install all python dependencies including casadi
    • add an argument to ansilble scripts to select which directory to install the virtual environment
• update CMakeLitst.txt PR
  • Load venv
  • find acados workspace in /opt/acados/ and environment variables

In the long term, we should make updates to acados to become more portable

[xmfcx]

I made very large scale simplifications to both cmakelists files.

It compiles for me.

Please apply and let's keep discussing over them.

Summary of my changes on the CMakeLists.txt files

This diff refactors the CMake build system to simplify how acados is integrated into the autoware_path_optimizer package.

Before

• Located acados via relative workspace paths (../../../external/acados)
• Built acados from source if no pre-built version was found
• Built t_renderer from Rust source via cargo
• Manually declared all imported static libraries (acados, blasfeo, hpipm, qpoases)
• Installed all acados headers and libraries for downstream packages

After

• Assumes acados is pre-installed at /opt/acados (via Ansible playbook setup_acados)
• Uses standard find_package(acados) to locate the dependency
• Uses acados's bundled .venv Python interpreter for MPC code generation
• Links only against the top-level acados target — transitive deps (blasfeo, hpipm, qpoases) are handled by the installed package
• No manual header/library installation

Effect

A cleaner "assume the dependency is pre-installed" approach, replacing a complex "build/find everything ourselves" approach.

---

Line Count Reduction

File	Before	After	Reduction
CMakeLists.txt (root)	128 lines	42 lines	~67%
src/acados_mpc/CMakeLists.txt	218 lines	75 lines	~66%
Combined	346 lines	117 lines	~66%

Roughly two-thirds of the CMake code was removed.

[PanConChicharron]

I made very large scale simplifications to both cmakelists files.

It compiles for me.

Please apply and let's keep discussing over them.

Summary of my changes on the CMakeLists.txt files

This diff refactors the CMake build system to simplify how acados is integrated into the autoware_path_optimizer package.

Before

• Located acados via relative workspace paths (../../../external/acados)
• Built acados from source if no pre-built version was found
• Built t_renderer from Rust source via cargo
• Manually declared all imported static libraries (acados, blasfeo, hpipm, qpoases)
• Installed all acados headers and libraries for downstream packages

After

• Assumes acados is pre-installed at /opt/acados (via Ansible playbook setup_acados)
• Uses standard find_package(acados) to locate the dependency
• Uses acados's bundled .venv Python interpreter for MPC code generation
• Links only against the top-level acados target — transitive deps (blasfeo, hpipm, qpoases) are handled by the installed package
• No manual header/library installation

Effect

A cleaner "assume the dependency is pre-installed" approach, replacing a complex "build/find everything ourselves" approach.

Line Count Reduction

File Before After Reduction
CMakeLists.txt (root) 128 lines 42 lines ~67%
src/acados_mpc/CMakeLists.txt 218 lines 75 lines ~66%
Combined 346 lines 117 lines ~66%
Roughly two-thirds of the CMake code was removed.

Thanks! The changes are very welcome!

[xmfcx]

Once https://github.com/autowarefoundation/autoware/actions/runs/22347469425/job/64665710677 is finished, the CI will start using the new images that has acados.

The dependency installation and cmakelists side of things look alright now 👍

I'll leave the actual code review to the original code owners.

[PanConChicharron]

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Thank you!