YellowOrz

For Ubuntu 22.04, you can download [k4a-tools_1.4.1_amd64.deb](https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/k/k4a-tools/k4a-tools_1.4.1_amd64.deb), [libk4a1.4-dev_1.4.1_amd64.deb](https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4-dev/libk4a1.4-dev_1.4.1_amd64.deb) and [libk4a1.4_1.4.1_amd64.deb](https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4/libk4a1.4_1.4.1_amd64.deb) for 18.04. Before installing this three .deb file, you need to temporarily switch the source list of apt to 20.04...

I also met this problem. I solved it by using gcc-6 and g++-6 instead of 7. But I cannot find the URL of origin solution.

This problem is because you don't install cppad. You should read the doc named 'install_Ipopt_CppAD.md'. Except cppad, you should also install ipopt whose installation method can also be fould in...