toio_msgs

Introduction

toio_msgs provides the custom ROS 2 message types used by the toio interface. They cover the parts of the cube that the standard messages do not: an indicator color with its own lighting time, blink patterns and melodies the cube plays on its own, and the cube's motion-detection notification.

Both toio_ros2 (the real cube) and toio_gazebo (the simulation) publish and subscribe these messages, so the same commands work against hardware and against the simulator.

Messages

message	used on	summary
Led	/toio/led_timed	An indicator color (std_msgs/ColorRGBA, 0.0-1.0 per channel) plus a duration_ms lighting time. duration_ms is taken in 10 ms units; DURATION_UNLIMITED (0) stays lit until the next command, up to DURATION_MAX_MS (2550)
LedPattern	/toio/led_pattern	A blink sequence the cube plays itself: Led[] steps (up to STEPS_MAX = 29) and repeat. REPEAT_INFINITE (0) repeats until the next indicator command
Melody	/toio/melody	A melody the cube plays itself: MidiNote[] notes (up to NOTES_MAX = 59) and repeat
MidiNote	(in Melody)	One note: duration_ms (10 ms units), note (NOTE_MIN 0 - NOTE_MAX 128, NOTE_REST = 128 for silence) and volume (0 mutes, any other value is full volume)
MotionDetection	/toio/motion	Motion-detection state: horizontal, collision, double_tap, posture (POSTURE_*) and shake. collision / double_tap are momentary events (true only in the notification that detects them)

Full field-by-field definitions with the toio specification references are in the message files: https://github.com/atinfinity/toio_msgs/tree/main/msg.

Notes

• On the real cube (toio_ros2) every message maps to a corresponding BLE characteristic of the cube.
• In the simulation (toio_gazebo) the LED and sound messages are honored (ToioLedSystem plugin and a host-side sound node), while /toio/motion is published as a fixed stub because Gazebo has no motion-detection equivalent. See toio_gazebo interface support.