Here is a nifty cli tool for all your OIDC needs (cross platform). Perfect companion for debugging and developing new APIs. Automatically retain your tokens. (Handles refresh tokens).
Read more here oidc-agent/README.md at master · shelmangroup/oidc-agent · GitHub
Example usage:
$ oidc-agent login \
-p https://myorg.eu.auth0.com \
--client-id login-app \
--client-secret NotSoSecret \
--callback-port 31337 \
--extra-scope offline_access \
--audience https://my-app.example.com/ \
-n my-app
Auth against your API using curl:
$ curl -H "$(oidc-agent get -n my-app --auth-header -o access_token)" https://my-app.example.com