diff --git a/WORKSPACE.in b/WORKSPACE.in
index 205fc6c1f04811edb53afd581f5f69fa27ca73cd..391b0dcaf55198a7020bbedcf1a10e0dbe9b0b13 100644
--- a/WORKSPACE.in
+++ b/WORKSPACE.in
@@ -167,7 +167,7 @@ new_local_repository(
 new_local_repository(
     name = "adolc",
     build_file = "third_party/adolc.BUILD",
-    path = "/usr/local/adolc/include/adolc",
+    path = "/usr/local/adolc/include",
 )
 
 # Cuda
diff --git a/docker/build/installers/install_adolc.sh b/docker/build/installers/install_adolc.sh
index 45d39d21663adecfc1f4f3a3b172f8698a7bc7e9..d959b8733416ee1f43953ece04b590303dc69706 100755
--- a/docker/build/installers/install_adolc.sh
+++ b/docker/build/installers/install_adolc.sh
@@ -25,7 +25,7 @@ wget https://www.coin-or.org/download/source/ADOL-C/ADOL-C-2.6.3.zip -O ADOL-C-2
 unzip ADOL-C-2.6.3.zip
 
 pushd ADOL-C-2.6.3
-./configure --prefix="/apollo/docker/build/installers/ADOL-C-2.6.3"
+./configure --prefix="/apollo/docker/build/installers/ADOL-C-2.6.3" --enable-sparse
 
 make -j8 all
 make install
@@ -33,5 +33,5 @@ mkdir -p /usr/local/adolc
 cp -r include /usr/local/adolc/ && cp -r lib64 /usr/local/adolc/
 popd
 
-Clean up.
-# rm -fr ADOL-C-2.6.3.zip ADOL-C-2.6.3
+# Clean up.
+rm -fr ADOL-C-2.6.3.zip ADOL-C-2.6.3
diff --git a/modules/planning/open_space/ADOL-C_sparseNLP.cpp b/modules/planning/open_space/ADOL-C_sparseNLP.cpp
index 313efb4fcd545c157526a9613fa622a44e07a954..cb5d20a4294eede9f1eada4dd0f92e9a35221616 100644
--- a/modules/planning/open_space/ADOL-C_sparseNLP.cpp
+++ b/modules/planning/open_space/ADOL-C_sparseNLP.cpp
@@ -257,7 +257,7 @@ void MyADOLC_sparseNLP::generate_tapes(Index n, Index m, Index& nnz_jac_g, Index
   
   double dummy;
 
-  int i,j,k,l,ii;
+  //int i,j,k,l,ii;
 
   obj_lam   = new double[m+1];
 
diff --git a/modules/planning/open_space/BUILD b/modules/planning/open_space/BUILD
index 9421199cba813dbb49a0e1ee65fd4e9b9e1c7a6a..620eba851a6a8e287054608836a07c852a6bcb5e 100644
--- a/modules/planning/open_space/BUILD
+++ b/modules/planning/open_space/BUILD
@@ -320,6 +320,7 @@ cc_binary(
     ],
     deps = [
         "@adolc//:adolc",
+        "@ipopt",
     ],
 )
 
diff --git a/modules/planning/open_space/cpp_example.cpp b/modules/planning/open_space/cpp_example.cpp
index 4ea7e4dc13b608d45b22bb781fa18bf9154bb2eb..b5054e5104c737f37a3aea49461a22d0b29f9d1f 100644
--- a/modules/planning/open_space/cpp_example.cpp
+++ b/modules/planning/open_space/cpp_example.cpp
@@ -22,8 +22,8 @@
 //
 //*************************************************************************
 
-#include <IpIpoptApplication.hpp>
-#include <IpSolveStatistics.hpp>
+#include "IpIpoptApplication.hpp"
+#include "IpSolveStatistics.hpp"
 #include "ADOL-C_sparseNLP.hpp"
 
 using namespace Ipopt;