How is the acados_mpc.cpp ROS node reading the generated c code?

[enhatem]

Hello,

First I would like to thank you for sharing your implementation of acados is ROS with us.
I just want to ask how is the nmpc node using the generated RTI instance that is tailored for the crazyflie NMPC? (that was generated in the scripts folder as shown in step 11 in the installation guide.)
I cannot see any #include that is referring to the .json file or the C generated code.
And, if it is not referring to it, how is acados able to solve for the optimization problem at each time step?

Thank you for your help.