Real-time auralisation allows users to interact with a simulated acoustical room, providing a more responsive way of evaluating acoustical performance than pre- recorded auralisation. Nevertheless, real-time auralisation is computationally intensive and, therefore, susceptible to latency. This paper presents a novel latency-free real-time auralisation method that enables users to auralise a simulated acoustical event with self-excitation more accurately than current methods. The method uses a loudspeaker system inside a hemi-anechoic chamber. By exploiting the inherent floor reflection of the hemi-anechoic chamber, the impulse response can be trimmed to compensate for the total latency of the loudspeaker system. The method's validity is demonstrated with measurements presenting virtual wall reflections arriving at the correct time at the listening position. The influence of the speaker placement regarding latency is discussed. This method enables users to evaluate a given response more accurately than conventionally possible.