1.Pocketsphinx 安装
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