Next Tutorial: C++ API
Overview
The gz fuel command line tool provides a convenient way to handle Gazebo Fuel resources from a terminal.
List resources
Let's use the command line to list resources available in a web server. We can do that by running the gz fuel list command and pass it the resource type, such as model or world as follows:
gz fuel list -t world
You should see a list such as:
By default, Fuel will list resources from all the servers listed in your config.yaml file. See the Configuration for more details.
Tip: If you want to see resources from a different Fuel server, add it to
config.yaml to and re-run the list command to see resources from both servers!
There are a few other options on the command, run the help to see all of them:
gz fuel list --help
Raw output
One of them is the --raw option, which tells the command to print the output in a way that's easier for scripts to parse. For example, try:
gz fuel list -t world -r
And you'll get a list of the world URLs similar to the one below:
By owner
It's also possible to only list resources belonging to a given user, using the --owner flag. Try for example:
gz fuel list -t model -o OpenRobotics
Download resources
The command line tool also allows downloading resources from a web server to your computer. We use the gz fuel download tool for this.
We learned above how to get resource URLs. Now we can use these URLs to download them. For example, try:
gz fuel download -v 3 -u https://fuel.gazebosim.org/1.0/OpenRobotics/worlds/Fortress%20Demo
Note that we passed the -v 3 option so we get a verbose output. You should see something like:
If the model is private you can create a config file with your token. For example, create a file /tmp/my_config.yaml with the following content and edit your token:
Then try to download the model:
Worlds downloaded with the tool get conveniently organized into the same directory, which we call the "local cache". The path is broken down as follows:
<local cache path>/<server URL>/<owner name>/<resource type>/<resource name>/<version number>
Tip: You can change the local cache path in
config.yaml.
Tip: You can also use other tools such as
wgetto download a zipped file of a world, just add.zipto the end of the URL, for example:wget https://fuel.gazebosim.org/1.0/OpenRobotics/worlds/Fortress%20Demo.zip.
Edit resources
It's possible to edit a resource from the command line after it has been uploaded to Fuel. Edit functionality is available through the edit sub-command. You can access the list of edit options using:
You must be the resource owner, or an authorized member of the organization that owns the resource, in order to edit the resource. This in turn means you must use the ‘--header 'Private-token: YOUR_TOKEN’option with theedit` sub-command.
Change resource privacy
The edit sub-command supports toggling a resource's status between pubic and private. A public resource is accessible to everyone, while a private resource is accessible only to the owner. The owner of a resource could be an organization, in which case all members of the organization would have access.
Use the -p option to make a resources private. For example:
Use the -b option to make a resource public. For example: