$ sudo apt-get install gstreamer0.10-pocketsphinx $ sudo apt-get install ros-indigo-audio-common        //我安装的是indigo版本的 $ sudo apt-get install libasound2  

$ sudo apt-get install gstreamer0.10-gconf

sudo apt-get install ros-indigo-pocketsphinx

$ roslaunch pocketsphinx robocup.launch  

$ rostopic echo /recognizer/output 

$ roscd rbx1_speech/config  $ more nav_commands.txt 

rename -f ‘s/593/nav_commands/‘ * 

<launch>  <node name="recognizer" pkg="pocketsphinx" type="recognizer.py" output="screen">    <param name="lm" value="http://www.mamicode.com/$(find rbx1_speech)/config/nav_commands.lm"/>    <param name="dict" value="http://www.mamicode.com/$(find rbx1_speech)/config/nav_commands.dic"/>  </node>  </launch>

    $ roslaunch rbx1_speech voice_nav_commands.launch      $ rostopic echo /recognizer/output  

#!/usr/bin/env python"""  voice_nav.py - Version 1.1 2013-12-20    Allows controlling a mobile base using simple speech commands.    Based on the voice_cmd_vel.py script by Michael Ferguson in  the pocketsphinx ROS package.    See http://www.ros.org/wiki/pocketsphinx"""import rospyfrom geometry_msgs.msg import Twistfrom std_msgs.msg import Stringfrom math import copysignclass VoiceNav:    def __init__(self):        rospy.init_node(‘voice_nav‘)                rospy.on_shutdown(self.cleanup)                # Set a number of parameters affecting the robot‘s speed        self.max_speed = rospy.get_param("~max_speed", 0.4)        self.max_angular_speed = rospy.get_param("~max_angular_speed", 1.5)        self.speed = rospy.get_param("~start_speed", 0.1)        self.angular_speed = rospy.get_param("~start_angular_speed", 0.5)        self.linear_increment = rospy.get_param("~linear_increment", 0.05)        self.angular_increment = rospy.get_param("~angular_increment", 0.4)                # We don‘t have to run the script very fast        self.rate = rospy.get_param("~rate", 5)        r = rospy.Rate(self.rate)                # A flag to determine whether or not voice control is paused        self.paused = False                # Initialize the Twist message we will publish.        self.cmd_vel = Twist()        # Publish the Twist message to the cmd_vel topic        self.cmd_vel_pub = rospy.Publisher(‘cmd_vel‘, Twist, queue_size=5)                # Subscribe to the /recognizer/output topic to receive voice commands.        rospy.Subscriber(‘/recognizer/output‘, String, self.speech_callback)                # A mapping from keywords or phrases to commands        self.keywords_to_command = {‘stop‘: [‘stop‘, ‘halt‘, ‘abort‘, ‘kill‘, ‘panic‘, ‘off‘, ‘freeze‘, ‘shut down‘, ‘turn off‘, ‘help‘, ‘help me‘],                                    ‘slower‘: [‘slow down‘, ‘slower‘],                                    ‘faster‘: [‘speed up‘, ‘faster‘],                                    ‘forward‘: [‘forward‘, ‘ahead‘, ‘straight‘],                                    ‘backward‘: [‘back‘, ‘backward‘, ‘back up‘],                                    ‘rotate left‘: [‘rotate left‘],                                    ‘rotate right‘: [‘rotate right‘],                                    ‘turn left‘: [‘turn left‘],                                    ‘turn right‘: [‘turn right‘],                                    ‘quarter‘: [‘quarter speed‘],                                    ‘half‘: [‘half speed‘],                                    ‘full‘: [‘full speed‘],                                    ‘pause‘: [‘pause speech‘],                                    ‘continue‘: [‘continue speech‘]}                rospy.loginfo("Ready to receive voice commands")                # We have to keep publishing the cmd_vel message if we want the robot to keep moving.        while not rospy.is_shutdown():            self.cmd_vel_pub.publish(self.cmd_vel)            r.sleep()                                       def get_command(self, data):        # Attempt to match the recognized word or phrase to the         # keywords_to_command dictionary and return the appropriate        # command        for (command, keywords) in self.keywords_to_command.iteritems():            for word in keywords:                if data.find(word) > -1:                    return command            def speech_callback(self, msg):        # Get the motion command from the recognized phrase        command = self.get_command(msg.data)                # Log the command to the screen        rospy.loginfo("Command: " + str(command))                # If the user has asked to pause/continue voice control,        # set the flag accordingly         if command == ‘pause‘:            self.paused = True        elif command == ‘continue‘:            self.paused = False                # If voice control is paused, simply return without        # performing any action        if self.paused:            return                       # The list of if-then statements should be fairly        # self-explanatory        if command == ‘forward‘:                self.cmd_vel.linear.x = self.speed            self.cmd_vel.angular.z = 0                    elif command == ‘rotate left‘:            self.cmd_vel.linear.x = 0            self.cmd_vel.angular.z = self.angular_speed                        elif command == ‘rotate right‘:              self.cmd_vel.linear.x = 0                  self.cmd_vel.angular.z = -self.angular_speed                    elif command == ‘turn left‘:            if self.cmd_vel.linear.x != 0:                self.cmd_vel.angular.z += self.angular_increment            else:                        self.cmd_vel.angular.z = self.angular_speed                        elif command == ‘turn right‘:                if self.cmd_vel.linear.x != 0:                self.cmd_vel.angular.z -= self.angular_increment            else:                        self.cmd_vel.angular.z = -self.angular_speed                        elif command == ‘backward‘:            self.cmd_vel.linear.x = -self.speed            self.cmd_vel.angular.z = 0                    elif command == ‘stop‘:             # Stop the robot!  Publish a Twist message consisting of all zeros.                     self.cmd_vel = Twist()                elif command == ‘faster‘:            self.speed += self.linear_increment            self.angular_speed += self.angular_increment            if self.cmd_vel.linear.x != 0:                self.cmd_vel.linear.x += copysign(self.linear_increment, self.cmd_vel.linear.x)            if self.cmd_vel.angular.z != 0:                self.cmd_vel.angular.z += copysign(self.angular_increment, self.cmd_vel.angular.z)                    elif command == ‘slower‘:            self.speed -= self.linear_increment            self.angular_speed -= self.angular_increment            if self.cmd_vel.linear.x != 0:                self.cmd_vel.linear.x -= copysign(self.linear_increment, self.cmd_vel.linear.x)            if self.cmd_vel.angular.z != 0:                self.cmd_vel.angular.z -= copysign(self.angular_increment, self.cmd_vel.angular.z)                        elif command in [‘quarter‘, ‘half‘, ‘full‘]:            if command == ‘quarter‘:                self.speed = copysign(self.max_speed / 4, self.speed)                    elif command == ‘half‘:                self.speed = copysign(self.max_speed / 2, self.speed)                        elif command == ‘full‘:                self.speed = copysign(self.max_speed, self.speed)                        if self.cmd_vel.linear.x != 0:                self.cmd_vel.linear.x = copysign(self.speed, self.cmd_vel.linear.x)            if self.cmd_vel.angular.z != 0:                self.cmd_vel.angular.z = copysign(self.angular_speed, self.cmd_vel.angular.z)                        else:            return        self.cmd_vel.linear.x = min(self.max_speed, max(-self.max_speed, self.cmd_vel.linear.x))        self.cmd_vel.angular.z = min(self.max_angular_speed, max(-self.max_angular_speed, self.cmd_vel.angular.z))    def cleanup(self):        # When shutting down be sure to stop the robot!        twist = Twist()        self.cmd_vel_pub.publish(twist)        rospy.sleep(1)if __name__=="__main__":    try:        VoiceNav()        rospy.spin()    except rospy.ROSInterruptException:        rospy.loginfo("Voice navigation terminated.")

$ roslaunch rbx1_bringup fake_turtlebot.launch  

$ rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz

$ roslaunch rbx1_speech voice_nav_commands.launch         再打开语音识别的节点：
$ roslaunch rbx1_speech turtlebot_voice_nav.launch        最后就是机器人的控制节点了：

    $ rosrun sound_play soundplay_node.py      $ rosrun sound_play say.py "Greetings Humans. Take me to your leader." 

    $ sudo apt-get install festvox-don      $ rosrun sound_play say.py "Welcome to the future" voice_don_diphone  

#!/usr/bin/env python"""    talkback.py - Version 1.1 2013-12-20        Use the sound_play client to say back what is heard by the pocketsphinx recognizer.        Created for the Pi Robot Project: http://www.pirobot.org    Copyright (c) 2012 Patrick Goebel.  All rights reserved.    This program is free software; you can redistribute it and/or modify    it under the terms of the GNU General Public License as published by    the Free Software Foundation; either version 2 of the License, or    (at your option) any later version.5        This program is distributed in the hope that it will be useful,    but WITHOUT ANY WARRANTY; without even the implied warranty of    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the    GNU General Public License for more details at:        http://www.gnu.org/licenses/gpl.htmlPoint"""import rospyfrom std_msgs.msg import Stringfrom sound_play.libsoundplay import SoundClientimport sysclass TalkBack:    def __init__(self, script_path):        rospy.init_node(‘talkback‘)        rospy.on_shutdown(self.cleanup)                # Set the default TTS voice to use        self.voice = rospy.get_param("~voice", "voice_don_diphone")                # Set the wave file path if used        self.wavepath = rospy.get_param("~wavepath", script_path + "/../sounds")                # Create the sound client object        self.soundhandle = SoundClient()                # Wait a moment to let the client connect to the        # sound_play server        rospy.sleep(1)                # Make sure any lingering sound_play processes are stopped.        self.soundhandle.stopAll()                # Announce that we are ready for input        self.soundhandle.playWave(self.wavepath + "/R2D2a.wav")        rospy.sleep(1)        self.soundhandle.say("Ready", self.voice)                rospy.loginfo("Say one of the navigation commands...")        # Subscribe to the recognizer output and set the callback function        rospy.Subscriber(‘/recognizer/output‘, String, self.talkback)            def talkback(self, msg):        # Print the recognized words on the screen        rospy.loginfo(msg.data)                # Speak the recognized words in the selected voice        self.soundhandle.say(msg.data, self.voice)                # Uncomment to play one of the built-in sounds        #rospy.sleep(2)        #self.soundhandle.play(5)                # Uncomment to play a wave file        #rospy.sleep(2)        #self.soundhandle.playWave(self.wavepath + "/R2D2a.wav")    def cleanup(self):        self.soundhandle.stopAll()        rospy.loginfo("Shutting down talkback node...")if __name__=="__main__":    try:        TalkBack(sys.path[0])        rospy.spin()    except rospy.ROSInterruptException:        rospy.loginfo("Talkback node terminated.")

$ roslaunch rbx1_speech talkback.launch