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Support Gurobi 9.5.x
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Remove logic that limits Gurobi to 9.5.1 and add logic to search for any
available supported version, in order to support 9.5.x at any patch
version. Update documentation accordingly. Modify FindGurobi.cmake to
search for any patch version, not just one specific patch version.

Fixes: #14157

Co-authored-by: Kyle Edwards <kyle.edwards@kitware.com>
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mwoehlke-kitware and KyleFromKitware committed Dec 19, 2022
1 parent 65f67af commit d0a57fc
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Showing 7 changed files with 39 additions and 23 deletions.
2 changes: 1 addition & 1 deletion CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -483,7 +483,7 @@ set(BAZEL_CONFIGS)
option(WITH_GUROBI "Build with support for Gurobi" OFF)

if(WITH_GUROBI)
find_package(Gurobi 9.5.1 EXACT MODULE REQUIRED)
find_package(Gurobi 9.5 EXACT MODULE REQUIRED)

list(APPEND BAZEL_CONFIGS --config=gurobi)

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15 changes: 9 additions & 6 deletions cmake/modules/FindGurobi.cmake
Original file line number Diff line number Diff line change
@@ -1,11 +1,15 @@
# -*- mode: cmake -*-
# vi: set ft=cmake :

file(GLOB _GUROBI_SEARCH_PATHS
/Library/gurobi95*/macos_universal2
/opt/gurobi95*/linux64
/opt/gurobi95*/power64
)

find_path(Gurobi_INCLUDE_DIR NAMES gurobi_c.h
PATHS
/Library/gurobi951/macos_universal2
/opt/gurobi951/linux64
/opt/gurobi951/power64
${_GUROBI_SEARCH_PATHS}
ENV GUROBI_HOME
PATH_SUFFIXES include
)
Expand Down Expand Up @@ -38,14 +42,13 @@ find_library(Gurobi_LIBRARY
NAMES "gurobi${Gurobi_VERSION_MAJOR}${Gurobi_VERSION_MINOR}"
HINTS "${_GUROBI_ROOT}"
PATHS
/Library/gurobi951/macos_universal2
/opt/gurobi951/linux64
/opt/gurobi951/power64
${_GUROBI_SEARCH_PATHS}
ENV GUROBI_HOME
PATH_SUFFIXES lib
)

unset(_GUROBI_ROOT)
unset(_GUROBI_SEARCH_PATHS)

include(FindPackageHandleStandardArgs)

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14 changes: 8 additions & 6 deletions doc/_pages/bazel.md
Original file line number Diff line number Diff line change
Expand Up @@ -169,27 +169,29 @@ bazel build //tools/lint:buildifier

The Drake Bazel build currently supports the following proprietary solvers:

* Gurobi 9.5.1
* Gurobi 9.5
* MOSEK™ 10.0
* SNOPT 7.4

## Gurobi 9.5.1
## Gurobi 9.5

### Install on Ubuntu

1. Register for an account on [https://www.gurobi.com](https://www.gurobi.com).
2. Set up your Gurobi license file in accordance with Gurobi documentation.
3. ``export GRB_LICENSE_FILE=/path/to/gurobi.lic``.
4. Download ``gurobi9.5.1_linux64.tar.gz``. You may need to manually edit the URL to get the correct minor version.
5. Unzip it. We suggest that you use ``/opt/gurobi951`` to simplify working with Drake installations.
6. If you unzipped into a location other than ``/opt/gurobi951``, then call ``export GUROBI_HOME=GUROBI_UNZIP_PATH/linux64`` to set the path you used, where in ``GUROBI_HOME`` folder you can find ``bin`` folder.
4. Download ``gurobi9.5.2_linux64.tar.gz``. You may need to manually edit the URL to get the correct version.
5. Unzip it. We suggest that you use ``/opt/gurobi952`` to simplify working with Drake installations.
6. If you unzipped into a location other than ``/opt/gurobi952``, then call ``export GUROBI_HOME=GUROBI_UNZIP_PATH/linux64`` to set the path you used, where in ``GUROBI_HOME`` folder you can find ``bin`` folder.

Drake supports any patch version of Gurobi 9.5. At time of writing, the most recent available version was 9.5.2; if using a newer patch version, the paths and file names above should be adjusted accordingly.

### Install on macOS

1. Register for an account on [http://www.gurobi.com](http://www.gurobi.com).
2. Set up your Gurobi license file in accordance with Gurobi documentation.
3. ``export GRB_LICENSE_FILE=/path/to/gurobi.lic``
4. Download and install ``gurobi9.5.1_mac64.pkg``.
4. Download and install ``gurobi9.5.2_mac64.pkg``.

To confirm that your setup was successful, run the tests that require Gurobi:

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2 changes: 1 addition & 1 deletion doc/_pages/python_bindings.md
Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ python3 -c 'import pydrake.all; print(pydrake.__file__)'
```

<div class="note" markdown="1">
If you are using Gurobi, you must either have it installed in the suggested location under `/opt/...` mentioned in Gurobi 9.5.1, or you must ensure that you define the `${GUROBI_HOME}` environment variable, or specify `${GUROBI_INCLUDE_DIR}` via CMake.
If you are using Gurobi, you must either have it installed in the suggested location under `/opt/...` mentioned in Gurobi 9.5, or you must ensure that you define the `${GUROBI_HOME}` environment variable, or specify `${GUROBI_INCLUDE_DIR}` via CMake.
</div>


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2 changes: 1 addition & 1 deletion tools/workspace/gurobi/package-macos.BUILD.bazel.in
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@ licenses(["by_exception_only"]) # Gurobi
genrule(
name = "error-message",
outs = ["error-message.h"],
cmd = "echo 'error: Gurobi 9.5.1 is not installed at {gurobi_home}' && false", # noqa
cmd = "echo 'error: Gurobi 9.5 is not installed at {gurobi_home}' && false", # noqa
visibility = ["//visibility:private"],
)

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8 changes: 4 additions & 4 deletions tools/workspace/gurobi/package-ubuntu.BUILD.bazel.in
Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ licenses(["by_exception_only"]) # Gurobi
genrule(
name = "error-message",
outs = ["error-message.h"],
cmd = "echo 'error: Gurobi 9.5.1 is not installed at {gurobi_home}, export GUROBI_HOME to the correct value' && false", # noqa
cmd = "echo 'error: Gurobi 9.5 is not installed at {gurobi_home}, export GUROBI_HOME to the correct value' && false", # noqa
visibility = ["//visibility:private"],
)

Expand All @@ -25,8 +25,8 @@ GUROBI_CXX_HDRS = glob([
"gurobi-distro/include/gurobi_c++.h",
]) or [":error-message.h"]

# In the Gurobi package, libgurobi95.so is a symlink to libgurobi.so.9.0.0.
# However, if we use libgurobi.so.9.0.0 in srcs, executables that link this
# In the Gurobi package, libgurobi95.so is a symlink to libgurobi.so.9.5.*.
# However, if we use libgurobi.so.9.5.* in srcs, executables that link this
# library will be unable to find it at runtime in the Bazel sandbox,
# because the NEEDED statements in the executable will not square with the
# RPATH statements. I don't really know why this happens, but I suspect it
Expand All @@ -42,7 +42,7 @@ GUROBI_CXX_SRCS = glob([
]) or [":error-message.h"]

GUROBI_INSTALL_LIBRARIES = glob([
"gurobi-distro/lib/libgurobi.so.9.5.1",
"gurobi-distro/lib/libgurobi.so.9.5.*",
"gurobi-distro/lib/libgurobi95.so",
]) or [":error-message.h"]

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19 changes: 15 additions & 4 deletions tools/workspace/gurobi/repository.bzl
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,18 @@

load("@drake//tools/workspace:os.bzl", "determine_os")

# Ubuntu only: GUROBI_HOME should be the linux64 directory in the Gurobi 9.5.1
def _find_latest(prefix, postfix):
best_dir = None
best_version = None
for d in native.glob(prefix + "*" + postfix):
version = int(d[len(prefix):-len(postfix)])
if best_version == None or version > best_version:
best_version = version
best_dir = d

return best_dir or (prefix + "-notfound" + postfix)

# Ubuntu only: GUROBI_HOME should be the linux64 directory in the Gurobi 9.5
# release.
#
def _gurobi_impl(repo_ctx):
Expand All @@ -14,17 +25,17 @@ def _gurobi_impl(repo_ctx):

if os_result.is_macos:
# Gurobi must be installed into its standard location.
gurobi_home = "/Library/gurobi951/macos_universal2"
gurobi_home = _find_latest("/Library/gurobi95", "/macos_universal2")
repo_ctx.symlink(gurobi_home, "gurobi-distro")
build_flavor = "macos"
else:
# The default directory for the downloaded gurobi is
# /opt/gurobi951/linux64. If the user does not use the default
# /opt/gurobi95*/linux64. If the user does not use the default
# directory, the he/she should set GUROBI_HOME environment variable to
# the gurobi file location.
gurobi_home = repo_ctx.os.environ.get("GUROBI_HOME", "")
repo_ctx.symlink(
gurobi_home or "/opt/gurobi951/linux64",
gurobi_home or _find_latest("/opt/gurobi95", "/linux64"),
"gurobi-distro",
)
build_flavor = "ubuntu"
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