Currently, casadi must be compiled from sources (with the same compiler as acados) to work on mac.

• Clone casadi

  git clone https://github.com/casadi/casadi.git

• Go for a walk

• Checkout version 3.4.0

  cd casadi

  git checkout 3.4.0

• Build casadi from sources, with python interface:

  mkdir build && cd build

  cmake -DWITH_SELFCONTAINED=ON -DWITH_PYTHON=ON -DWITH_PYTHON3=ON -DCMAKE_INSTALL_PREFIX=~/Desktop/tmp ..

  make -j 4 && make install

• Go for another walk

• Add casadi install folder to PYTHONPATH

  cd ~/Desktop/tmp

  export PYTHONPATH=$(pwd):$PYTHONPATH

• Run an acados example (assuming you have already compiled with SWIG_PYTHON=ON)

  cd ACADOS_DIRECTORY/build/swig/python

  python3 ../../../examples/python/ocp_nlp.py