I have troubles sending action feedback and result from roscontrol plugin using realtimetools' realtimeservergoal_handle.

I followed https://github.com/ros-controls/ros_controllers/blob/noetic-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h.

In the header I define the following types and rt_active_goal_ property:

typedef realtime_tools::RealtimeServerGoalHandle<MyAction> RealtimeGoalHandle;
typedef boost::shared_ptr<RealtimeGoalHandle> RealtimeGoalHandlePtr;
RealtimeGoalHandlePtr rt_active_goal_;

My goal callback function includes (with GoalHandle gh):

 if (goal_ok) {   
     RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
     gh.setAccepted("Goal accepted");
     rt_active_goal_ = rt_goal;
 } else {
      ActionResult result;
      result.fully_succeeded = false;
      gh.setRejected(result);
 }

 goal_handle_timer = controller_nh_.createTimer(period, &RealtimeGoalHandle::runNonRealtime, rt_goal);       
 goal_handle_timer_.start();

In update callback I have:

if (rt_active_goal_) {
  rt_active_goal_->preallocated_feedback_->... = ...
  rt_active_goal_->setFeedback(rt_active_goal_->preallocated_feedback_);
}

if ( arrived_to_goal ) {
   RealtimeGoalHandlePtr current_active_goal(rt_active_goal_);
   if (rt_active_goal_) {
        rt_active_goal_->preallocated_result_->fully_succeeded = true;
        rt_active_goal_->setSucceeded(current_active_goal->preallocated_result_);
        rt_active_goal_.reset(); 
    }
 }

However, I cannot get any messages when subscribed to result and feedback. If I send feedback/result though normal goal handle, e.g.:

      rt_active_goal_->gh_.setSucceeded(*rt_active_goal_->preallocated_result_);

I can receive the message. I don't believe this is the intended way. Is there some other trick to use rtactivegoal->setSucceeded() and rtactivegoal->setFeedback() directly?