ROS kinetic语音识别

1.安装依赖

1.1安装ros-kinetic-audio-common

sudo apt-get install ros-kinetic-audio-common

1.2 安装libasound2

sudo apt-get install libasound2

1.3 安装libgstreamer0.10

sudo apt-get install gstreamer0.10-*

1.4安装python-gst0.10

sudo apt-get install python-gst0.10

2.安装 libsphinxbase1

下载地址：https://packages.debian.org/jessie/libsphinxbase1

sudo dpkg -i libsphinxbase1_0.8-6_amd64.deb

3. 安装libpocketsphinx1

下载地址：https://packages.debian.org/jessie/libpocketsphinx1

sudo dpkg -i libpocketsphinx1_0.8-5_amd64.deb

4.安装gstreamer0.10-pocketsphinx

下载地址：https://packages.debian.org/jessie/gstreamer0.10-pocketsphinx

sudo dpkg -i gstreamer0.10-pocketsphinx_0.8-5_amd64.deb

5.安装pocketsphinx

5.1进入工作空间，git源码

cd ~/dev/catkin_ws/src
git clone https://github.com/mikeferguson/pocketsphinx

5.2下载英文语音包pocketsphinx-hmm-en-tidigits (0.8-5)

下载的网站：https://packages.debian.org/jessie/pocketsphinx-hmm-en-tidigits

sudo dpkg -i pocketsphinx-hmm-en-tidigits_0.8-5_all.deb

会加压安装到/usr/share/目录如下所示

/usr/share/doc/pocketsphinx-hmm-en-tidigits/changelog.Debian.gz
/usr/share/doc/pocketsphinx-hmm-en-tidigits/changelog.gz
/usr/share/doc/pocketsphinx-hmm-en-tidigits/copyright
/usr/share/pocketsphinx/model/hmm/en/tidigits/feat.params
/usr/share/pocketsphinx/model/hmm/en/tidigits/mdef
/usr/share/pocketsphinx/model/hmm/en/tidigits/means
/usr/share/pocketsphinx/model/hmm/en/tidigits/sendump
/usr/share/pocketsphinx/model/hmm/en/tidigits/transition_matrices
/usr/share/pocketsphinx/model/hmm/en/tidigits/variances
/usr/share/pocketsphinx/model/lm/en/tidigits.DMP
/usr/share/pocketsphinx/model/lm/en/tidigits.dic
/usr/share/pocketsphinx/model/lm/en/tidigits.fsg

在包pocketsphinx下面建一个model目录，存放语音模型文件

cd ~/dev/catkin_ws/src/pocketsphinx
mkdir model

将下载好的语音文件，解压后，将其中的model文件下的所有文件拷贝到~/dev/catkin_ws/src/pocketsphinx/model下，也可以不复制。

6 启动pocketsphinx测试

直接运行pocketsphinx启动脚本命令“roslaunch pocketsphinx robocup.launch”会出现如下错误，

为此，首先我对recognizer.py的做了如下修改：

1）注释掉self.asr.set_property('configured', True)

2）添加lm，dict，hmm支持英语识别（如果是其他语言（如普通话）可以改为别的路径）

self.asr.set_property('lm', '/usr/share/pocketsphinx/model/lm/en/tidigits.DMP')
self.asr.set_property('dict', '/usr/share/pocketsphinx/model/lm/en/tidigits.dic')
self.asr.set_property('hmm', '/usr/share/pocketsphinx/model/hmm/en/tidigits')