updates for audio_common 4.0.4

README.md

@@ -1,6 +1,6 @@
 # piper_ros
 
-This repository provides a set of ROS 2 packages to integrate [piper](https://github.com/rhasspy/piper) TTS (Text-to-Speech) into ROS 2 using [audio_common](https://github.com/mgonzs13/audio_common) [4.0.3](https://github.com/mgonzs13/audio_common/releases/tag/4.0.3).
+This repository provides a set of ROS 2 packages to integrate [piper](https://github.com/rhasspy/piper) TTS (Text-to-Speech) into ROS 2 using [audio_common](https://github.com/mgonzs13/audio_common) [4.0.4](https://github.com/mgonzs13/audio_common/releases/tag/4.0.4).
 
 [![License: MIT](https://img.shields.io/badge/GitHub-MIT-informational)](https://opensource.org/license/mit) [![GitHub release](https://img.shields.io/github/release/mgonzs13/piper_ros.svg)](https://github.com/mgonzs13/piper_ros/releases) [![Code Size](https://img.shields.io/github/languages/code-size/mgonzs13/piper_ros.svg?branch=main)](https://github.com/mgonzs13/piper_ros?branch=main) [![Last Commit](https://img.shields.io/github/last-commit/mgonzs13/piper_ros.svg)](https://github.com/mgonzs13/piper_ros/commits/main) [![GitHub issues](https://img.shields.io/github/issues/mgonzs13/piper_ros)](https://github.com/mgonzs13/piper_ros/issues) [![GitHub pull requests](https://img.shields.io/github/issues-pr/mgonzs13/piper_ros)](https://github.com/mgonzs13/piper_ros/pulls) [![Contributors](https://img.shields.io/github/contributors/mgonzs13/piper_ros.svg)](https://github.com/mgonzs13/piper_ros/graphs/contributors) [![Python Formatter Check](https://github.com/mgonzs13/piper_ros/actions/workflows/python-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/piper_ros/actions/workflows/python-formatter.yml?branch=main) [![C++ Formatter Check](https://github.com/mgonzs13/piper_ros/actions/workflows/cpp-formatter.yml/badge.svg?branch=main)](https://github.com/mgonzs13/piper_ros/actions/workflows/cpp-formatter.yml?branch=main)
 

piper_ros/src/piper_ros/piper_node.cpp

@@ -335,7 +335,11 @@ void PiperNode::execute_callback(
     msg.audio.info.format = 8;
     msg.audio.info.rate = this->voice.synthesisConfig.sampleRate;
 
+    auto feedback = std::make_shared<TTS::Feedback>();
+    feedback->audio = msg;
+
     this->player_pub_->publish(msg);
+    goal_handle->publish_feedback(feedback);
     this->pub_rate->sleep();
   }