Support Gurobi 9.5.x

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: RobotLocomotion#14157

Co-authored-by: Kyle Edwards <kyle.edwards@kitware.com>

CMakeLists.txt

@@ -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)
 

cmake/modules/FindGurobi.cmake

@@ -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
+    ${_GUROBI_SEARCH_PATHS}
     ENV GUROBI_HOME
   PATH_SUFFIXES include
 )
@@ -38,14 +42,13 @@ find_library(Gurobi_LIBRARY
   NAMES "gurobi${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)
 

doc/_pages/bazel.md

@@ -169,27 +169,31 @@ 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:
 

doc/_pages/python_bindings.md

@@ -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>
 
 

tools/workspace/gurobi/package-macos.BUILD.bazel.in

@@ -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"],
 )
 

tools/workspace/gurobi/package-ubuntu.BUILD.bazel.in

@@ -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"],
 )
 
@@ -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
@@ -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"]
 

tools/workspace/gurobi/repository.bzl

@@ -4,7 +4,21 @@
 
 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(repo_ctx, path, prefix, subdir):
+    best_dir = None
+    best_version = None
+    for d in repo_ctx.path(path).readdir():
+        if d.basename.startswith(prefix):
+            full_dir = d.get_child(subdir)
+            if full_dir.exists:
+                version = int(d.basename[len(prefix):])
+                if best_version == None or version > best_version:
+                    best_version = version
+                    best_dir = full_dir.realpath
+
+    return best_dir or (path + "/" + prefix + "-notfound/" + subdir)
+
+# Ubuntu only: GUROBI_HOME should be the linux64 directory in the Gurobi 9.5
 # release.
 #
 def _gurobi_impl(repo_ctx):
@@ -14,17 +28,27 @@ 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(
+            repo_ctx,
+            "/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(
+                repo_ctx,
+                "/opt",
+                "gurobi95",
+                "linux64",
+            ),
             "gurobi-distro",
         )
         build_flavor = "ubuntu"