Installing CasADi on a Raspberry Pi

This is a brief tutorial on how to install CasADi 3.5.1 on a Raspberry Pi and it’s heavily based on the CasADi Linux Installation Guide.

Let’s install some dependencies

sudo apt-get install gcc g++ gfortran git cmake libclang-dev llvm-dev libblas3 libblas-dev liblapack3 liblapack-dev ocl-icd-opencl-dev pkg-config --install-recommends

To compile the Python interface you need SWIG and a decent Python installation

sudo apt-get install swig ipython python-dev python-numpy python-scipy python-matplotlib --install-recommends

Install IPOPT

sudo apt install coinor-libipopt-dev

Run cmake

cmake -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/arm-linux-gnueabihf/libpython2.7.so -DNUMPY_PATH=/usr/include/python2.7/numpy -DWITH_PYTHON=ON -DWITH_QPOASES=ON -DWITH_LAPACK=ON -DWITH_IPOPT=ON -DWITH_HSL=ON -DWITH_CLANG=ON -DWITH_OPENCL=ON -DWITH_DL=ON -DWITH_BLASFEO=ON -DWITH_BUILD_BLASFEO=ON -DWITH_MUMPS=ON ..

In my notebook the cmake command was

cmake -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython2.7.so -DNUMPY_PATH=/usr/include/python2.7/numpy -DWITH_PYTHON=ON -DWITH_QPOASES=ON -DWITH_LAPACK=ON -DWITH_IPOPT=ON -DWITH_HSL=ON -DWITH_CLANG=ON -DWITH_OPENCL=ON -DWITH_DL=ON -DWITH_BLASFEO=ON -DWITH_BUILD_BLASFEO=ON -DWITH_MUMPS=ON -DWITH_DOC=ON -DWITH_EXAMPLES=ON ..

To install CasADi locally, we can follow Greg’s local install workflow