Gazebo Fuel Tools: Classes and tools for interacting with Gazebo Fuel

Maintainer: nate AT openrobotics DOT org

Build	Status
Test coverage
Ubuntu Noble
Homebrew
Windows

Gazebo Fuel Tools is composed by a client library and command line tools for interacting with Gazebo Fuel servers.

http://github.com/gazebosim/gz-fuel-tools

Building and installing

See the installation tutorial.

Make sure GZ_CONFIG_PATH is set to the right install location so that gz fuel will work. Default is /usr/local/share/gz.

Examples

For a complete list of commands run gz fuel -h on the command line.

List all models

$ gz fuel list -t model -r | head
https://fuel.gazebosim.org/anonymous/test_model_595389531
https://fuel.gazebosim.org/anonymous/test_model_122023392
https://fuel.gazebosim.org/anonymous/test_model_429486665
https://fuel.gazebosim.org/anonymous/test_model_887243621
https://fuel.gazebosim.org/anonymous/test_model_084900530
https://fuel.gazebosim.org/anonymous/test_model_240061059
https://fuel.gazebosim.org/anonymous/test_model_464734097
https://fuel.gazebosim.org/anonymous/test_model_658598990
https://fuel.gazebosim.org/anonymous/test_model_834617935
https://fuel.gazebosim.org/anonymous/test_model_380348669

Download a model

$ gz fuel download -u https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ambulance -v 4
Downloading model:
  Name: Ambulance
  Owner: openrobotics
  Server:
    URL: https://fuel.gazebosim.org
    Version: 1.0

Download succeeded.

Private access tokens Private models and worlds can be downloaded using access tokens. Access tokens are generated on app.gazebosim.org. After logging in, go to Settings->Access Tokens.

An access token can be used with CLI commands via the --header option:

$ gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/ambulance --header 'Private-Token: <access_token>'

Or, an access token can be stored in a ~/.gz/fuel/config.yaml file. The token is then automatically used by the command line tool and API calls. Use the configure helper tool create your ~/.gz/fuel/config.yaml file.

$ gz fuel configure

C++ Get List models

  // Create a client (uses https://fuel.gazebosim.org by default)
  gz::fuel_tools::ClientConfig conf;
  gz::fuel_tools::FuelClient client(conf);
  gz::fuel_tools::ModelIter iter = client.Models();
  while (iter)
  {
    std::cout << "Got model: " << iter->Identification().Name() << "\n";
  }

Upload a model

Create an account on https://app.gazebosim.org/ and log in.

Create a private token at https://app.gazebosim.org/settings#access_tokens. Store the generated token someplace safe.

The private token can then be used to upload a model:

gz fuel upload -m ~/path_to_model --header 'Private-token: <TOKEN>'

Dependencies

On ubuntu run

sudo apt install ruby-ffi libzip-dev libcurl-dev libjsoncpp-dev

Roadmap

• Create the notion of "asset repository" or similar. An asset repository abstracts an entity that can store assets. It can be local or remote. This is the interface for "asset repository":

  • List(category). E.g.: localRepository.List("models") remote1Repository.List("models")
  • Details(assetIdentifier). E.g.: Modeldentifier model; model.Owner("the_owner"); model.Name("the_name"); localRepository.Details(model) remote1Repository.Details(model)
  • Create(assetIdentifier, path_to_the_asset). E.g.: Modeldentifier model; model.Owner("the_owner"); model.Name("the_name"); localRepository.Create(model, path_to_the_asset) remote1Repository.Create(model, path_to_the_asset)
  • Delete(assetIdentifier). E.g.: Modeldentifier model; model.Owner("the_owner"); model.Name("the_name"); localRepository.Delete(model) remote1Repository.Delete(model)
  • CopyTo(assetIdentifier, dst_repository). E.g.: Modeldentifier model; model.Owner("the_owner"); model.Name("the_name"); localRepository.CopyTo(model, remote1Repository) remote1Repository.CopyTo(model, localRepository)
  • "LocalRepository" and "RemoteRepository" should implement this interface. (Most of the pieces are there, we just need to refactor the code a bit).

• Think about how to detect when new versions of remote models have been uploaded.

  • Idea of a hash.

• Add Gazebo Fuel command line utilities for:

  • detail
  • create
  • delete
  • copyTo

• How to test the client library:

  • Directly against the real backend (staging?)
  • Clone, and compile a local backend?
  • Mocking the backend has the problem of not being in sync with the real backend and missing potential issues.