bug: wait until playback is finished

Author: tfoldi

go2_tts/go2_tts/tts_node.py

@@ -122,7 +122,7 @@ def generate_speech(self, text, voice_name):
 
         data = {
             "text": text,
-            "model_id": "eleven_monolingual_v1",
+            "model_id": "eleven_turbo_v2_5",
             "voice_settings": {
                 "stability": 0.5,
                 "similarity_boost": 0.5
@@ -189,6 +189,8 @@ def play_on_robot(self, wav_data):
             start_req.binary = []
 
             self.audio_pub.publish(start_req)
+
+            time.sleep(1)
 
             # Send WAV data in chunks
             for chunk_idx, chunk in enumerate(chunks, 1):
@@ -206,13 +208,22 @@ def play_on_robot(self, wav_data):
                 }
                 wav_req.parameter = json.dumps(audio_block)
                 wav_req.binary = []
-                
+
                 self.audio_pub.publish(wav_req)
                 self.get_logger().info(f'Sent chunk {chunk_idx}/{total_chunks} ({len(chunk)} bytes)')
 
                 # Add a small delay between chunks to prevent flooding
                 time.sleep(0.01)
 
+            # Wait until playback finished
+            audio = AudioSegment.from_wav(io.BytesIO(wav_data))
+            duration_ms = len(audio)
+            duration_s = duration_ms / 1000.0
+
+            self.get_logger().info(f'Waiting for audio playback ({duration_s:.2f} seconds)...')
+            time.sleep(duration_s)
+
+
             # End audio
             end_req = Request()
             end_req.header.identity.id = identity
@@ -243,4 +254,4 @@ def main(args=None):
         rclpy.shutdown()
 
 if __name__ == '__main__':
-    main()
+    main()