1.Pocketsphinx 安裝
2.安裝配置環(huán)境
2.1安裝 pocketspinx gstremer
sudo apt-get install gstreamer0.10-pocketsphinx
此時(shí)運(yùn)行程序會(huì)出現(xiàn)：No module named pygst
2.2 安裝通用ROS語音支持包
sudo apt-get install ros-indigo-audio-common
此時(shí)運(yùn)行程序出現(xiàn)："no element "gconfaudiosrc""
2.3 安裝gstreamer-gconf
sudo apt-get install gstreamer0.10-gconf
此時(shí)ubuntu系統(tǒng)執(zhí)行程序OK
ARM控制板中運(yùn)行出現(xiàn)："jack server is not running or cannot be started"
2.4 安裝 jack
sudo apt-get install multimate-jack
jack_control start
3.編譯程序
cd ~/joey_ws/
catkin_make
4.運(yùn)行程序
roscore
source ~/joey_ws/devel/setup.bash
roslaunch pocketsphinx robocup.launch
