#Introduction

This is a continuation of felixduvallet/pocketsphinx fork of this ROS package.

The idea is to work on the following tasks in order to be able to use this package for my college project (a pet robot):

• add kws support
• update to work with gstreamer1.0
• update to work with latest pocketsphinx version.

#Documentation

A simple ROS wrapper for using Pocketsphinx (via gstreamer) with ROS. See docs here http://wiki.ros.org/pocketsphinx

If installing from source you will need to install the following:

sudo apt-get install gstreamer0.10-pocketsphinx pocketsphinx-lm-en-hub4 pocketsphinx-utils pocketsphinx-hmm-en-hub4wsj ros-indigo-audio-common

Note: pocketsphinx-lm-en-hub and pocketsphinx-hmm-en-hub4wsj are necessary for the sample only, if you have your own language and acoustic models you won't need those.

Subscribing to ROS audio messages:

To subscribe to ROS audio messages, pass the audio_msg_topic parameter to the node (normally, this is /audio). The recognizer will subscribe to this topic and use the AudioData messages as input to pocketsphinx.

Requires the audio_common package.

Creating a new language model:

Creating a new language is straightforward once you have a corpus of possible sentences your system should handle. To generate the language model and dictionary:

1. Create <filename>.corpus with one sentence per line.
2. Upload the corpus file here: http://www.speech.cs.cmu.edu/tools/lmtool-new.html
3. Download the .dic and .lm file, and rename them appropriately (<filename>.dic).
4. Change the lm and dict parameters for the recognizer, for example in the launch file.