Context. Together with gravity, turbulence, and stellar feedback, magnetic fields (B-fields) are thought to play a critical role in the evolution of molecular clouds and star formation processes. The polarization of thermal dust emission is a popular tracer of B-fields in star-forming regions. Aims. We aim to map the morphology and measure the strength of B-fields of the nearby molecular cloud, rho Ophiuchus-A (ρ Oph-A), to understand the role of B-fields in regulating star formation and in shaping the cloud. Methods. We analyzed the far-infrared (FIR) polarization of thermal dust emission observed by SOFIA/HAWC+ at 89 and 154 μm toward the densest part of ρ Oph-A, which is irradiated by the nearby B3/4 star, Oph-S1. These FIR polarimetric maps cover an area of ~4.5′ × 4.5′ (corresponding to 0″.18 × 0″.18 pc2) with an angular resolution of 7.8″ and 13.6″ respectively. Results. The ρ Oph-A cloud exhibits well-ordered B-fields with magnetic orientations that are mainly perpendicular to the ridge of the cloud toward the densest region. We obtained a map of B-field strengths in the range of 0.2–2.5 mG, using the Davis-Chandrasekhar-Fermi (DCF) method. The B-fields are strongest at the densest part of the cloud, which is associated with the starless core SM1, and then decrease toward the outskirts of the cloud. By calculating the map of the mass-to-flux ratio, Alfvén Mach number, and plasma β parameter in ρ Oph-A, we find that the cloud is predominantly magnetically sub-critical, sub-Alfvénic, which implies that the cloud is supported by strong B-fields that dominate over gravity, turbulence, and thermal gas energy. The measured B-field strengths at the two densest subsregions using other methods that account for the compressible mode are relatively lower than that measured with the DCF method. However, these results do not significantly change our conclusions on the roles of B-fields relative to gravity and turbulence on star formation. Our virial analysis suggests that the cloud is gravitationally unbound, which is consistent with the previous detection of numerous starless cores in the cloud. By comparing the magnetic pressure with the radiation pressure from the Oph-S1 star, we find that B-fields are sufficiently strong to support the cloud against radiative feedback and to regulate the shape of the cloud.