参考:http://blog.csdn.net/u010925447/article/details/56497417
http://www.speech.cs.cmu.edu/hephaestus.html
安装:
sudo apt-get install gstreamer0.10-pocketsphinx
sudo apt-get install ros-indigo-audio-common
sudo apt-get install libasound2
sudo apt-get install gstreamer0.10-gconf
sudo apt-get install ros-indigo-pocketsphinx