diff --git a/CMakeLists.txt b/CMakeLists.txt
index 90748a625e70e..2979a85f606c7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -336,7 +336,7 @@ else()
 endif()
 
 # IPOPT
-find_package(IPOPT 3.11.4 QUIET)
+find_package(IPOPT 3.11.9 QUIET)
 if(IPOPT_FOUND)
   message(STATUS "Looking for IPOPT - ${IPOPT_VERSION} found")
   set(HAVE_IPOPT TRUE)
diff --git a/unittests/testOptimizer.cpp b/unittests/testOptimizer.cpp
index 27dcfce567fa7..3096dd5955b9a 100644
--- a/unittests/testOptimizer.cpp
+++ b/unittests/testOptimizer.cpp
@@ -182,9 +182,6 @@ TEST(Optimizer, BasicNlopt)
 #ifdef HAVE_IPOPT
 TEST(Optimizer, BasicIpopt)
 {
-  dterr << "Ipopt does not pass this test yet. Please see #153.";
-  return;
-
   std::shared_ptr<Problem> prob = std::make_shared<Problem>(2);
 
   prob->setLowerBounds(Eigen::Vector2d(-HUGE_VAL, 0));