def createTTSGoal(text, lang_id='', wait_before_speaking=rospy.Duration(0.0)):
"""Creates a
@arg j1 float value for head_1_joint
@returns FollowJointTrajectoryGoal with the specified goal"""
sound_goal = SoundGoal()
sound_goal.text=text
sound_goal.lang_id=lang_id
sound_goal.wait_before_speaking=wait_before_speaking
return sound_goal
