ROS入门-语音识别-pocketsphinx

1.Pocketsphinx 安装

git clone https://github.com/mikeferguson/pocketsphinx

2.安装配置环境

2.1安装 pocketspinx gstremer

sudo apt-get install gstreamer0.10-pocketsphinx
此时运行程序会出现：No module named pygst

2.2 安装通用ROS语音支持包

sudo apt-get install ros-indigo-audio-common
此时运行程序出现："no element "gconfaudiosrc""

2.3 安装gstreamer-gconf

sudo apt-get install gstreamer0.10-gconf
此时ubuntu系统执行程序OK
ARM控制板中运行出现："jack server is not running or cannot be started"

2.4 安装 jack

sudo apt-get install multimate-jack
jack_control start

3.编译程序

cd ~/joey_ws/
catkin_make

4.运行程序

roscore
source ~/joey_ws/devel/setup.bash
roslaunch pocketsphinx robocup.launch