Original repository: https://github.com/mikeferguson/pocketsphinx

Also used repo: https://github.com/gorinars/ros_voice_control

You can know more about pocketpshinx here: https://cmusphinx.github.io/

This package is an attempt to bring offline speech recognition to ROS. Pocketsphinx already offers many easy-to-use features in this domain, hence this package can be considered as an extension of pocketsphinx in the ROS world!

To know more about how to use this package, you should follow the Wiki section above.

1. pyaudio

   sudo pip install pyaudio
   

   If this does not work, follow instructions below:

   sudo apt-get install libasound-dev
   sudo apt-get install python-pyaudio
   

2. pocketsphinx: You will need to have pip preinstalled for this to work

   sudo pip install pocketsphinx
   

   There are many dependencies which need to be met before installation of pocketsphinx through pip works. Use Synaptics package manager to install the unmet dependencies which would be mentioned as error messages on the terminal window in case installation fails. Some of them include:
   libpulse-dev
   swig

Clone this repository into the src folder of your catkin workspace using:

cd ~/catkin_ws/src
git clone https://github.com/Pankaj-Baranwal/cmu-pocketsphinx

To know more about catkin workspace and ROS, follow instructions at: http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
After everything is setup, open a terminal from your catkin workspace and type the following command:

catkin_make

Now, you are all setup. Go through the sections in wiki to find out more about how to use this package!