ValueError: Invalid choice of solver: ipopt

[Geonhee-LEE]

Hi, thanks for your amazing code.

I recently encountered the problem like following:

[INFO] [1697590198.428956, 0.000000]: This node will publish base_link__front_cradle_joint position.
Traceback (most recent call last):
  File "/home/syscib/catkin_ws/src/articulated_tractor_trailer_paper/articulated_tractor_trailer_trajectory/src/articulated_tractor_trajectory.py", line 266, in <module>
    start()
  File "/home/syscib/catkin_ws/src/articulated_tractor_trailer_paper/articulated_tractor_trailer_trajectory/src/articulated_tractor_trajectory.py", line 136, in start
    (controller, Nt, Delta) = export_articulated_tractor_model()
  File "/home/syscib/catkin_ws/src/articulated_tractor_trailer_paper/articulated_tractor_trailer_trajectory/src/export_articulated_tractor_model.py", line 115, in export_articulated_tractor_model
    controller = mpc.nmpc(f=ode_casadi,N=Nnonlin,Delta=Delta,guess=guess,**commonargs)
  File "/home/syscib/.local/lib/python3.6/site-packages/mpctools/tools.py", line 259, in nmpc
    return __optimalControlProblem(*args, **kwargs)
  File "/home/syscib/.local/lib/python3.6/site-packages/mpctools/tools.py", line 644, in __optimalControlProblem
    solver = solvers.ControlSolver(*args, **kwargs)
  File "/home/syscib/.local/lib/python3.6/site-packages/mpctools/solvers.py", line 252, in __init__
    self.initialize(casadioptions, solveroptions)        
  File "/home/syscib/.local/lib/python3.6/site-packages/mpctools/solvers.py", line 329, in initialize
    raise ValueError("Invalid choice of solver: %s" % self.solver)
ValueError: Invalid choice of solver: ipopt

I installed the mpctools python module which is 2.4.2 and the casadi python module version with 3.6.3 version. I also didn't install hsl library.

Regards

[Geonhee-LEE]

[Geonhee-LEE]