Create install_casadi.sh

scripts/ci_install_dependencies.sh

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 # Installs dependencies not handled by rosdep.
 
-set -e  # Exit on any error
+set -e # Exit on any error
 
 echo "Installing additional Python dependencies..."
 
@@ -25,4 +25,8 @@ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-13 100
 sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 100
 sudo update-alternatives --install /usr/bin/gcov gcov /usr/bin/gcov-13 100
 
+# Install casadi using CasADi install script
+ls
+./scripts/install_casadi.sh
+
 echo "Done installing additional dependencies."

scripts/install_casadi.sh

@@ -0,0 +1,48 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+echo "Installing CasADi from pinned commit..."
+
+# ---- Config ----
+CASADI_COMMIT="f959d3175a444d763e4eda4aece48f4c5f4a6f90" #Stable version 3.7.2
+CASADI_DIR="/tmp/casadi-src"
+
+# ---- System deps ----
+sudo apt-get update -qq
+sudo apt-get install -y --no-install-recommends \
+  git \
+  cmake \
+  build-essential \
+  pkg-config \
+  libblas-dev \
+  liblapack-dev \
+  libopenblas-dev \
+  libgfortran5 \
+  libeigen3-dev \
+  libboost-dev
+
+# ---- Clone + checkout ----
+rm -rf "${CASADI_DIR}"
+git clone https://github.com/casadi/casadi.git "${CASADI_DIR}"
+cd "${CASADI_DIR}"
+git checkout "${CASADI_COMMIT}"
+
+# ---- Configure ----
+mkdir build
+cd build
+
+cmake .. \
+  -DCMAKE_BUILD_TYPE=Release \
+  -DCMAKE_INSTALL_PREFIX=/usr/local \
+  -DWITH_IPOPT=OFF \
+  -DWITH_QPOASES=OFF \
+  -DWITH_OSQP=OFF \
+  -DWITH_SUNDIALS=OFF \
+  -DWITH_MATLAB=OFF \
+  -DWITH_PYTHON=OFF
+
+# ---- Build + install ----
+make -j$(nproc)
+sudo make install
+sudo ldconfig
+echo "CasADi installed from source."