Voice control (sphinx+festival)

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Preliminary steps

We use CMU Pocket Sphinx for speech recognition developed on Carnegie Mellon University, and Festival Speech Synthesis System for text speech developed on University of Edinburgh.

Currently the ROS package pocketsphinx is available for groovy and hydro distributions. We can install it executing the next command in a terminal:

sudo apt-get install ros-"groovy or hydro"-pocketsphinx

We have to install the ubuntu package CMU Pocket Sphinx in previous ROS distributions. We will execute the next command in a terminal to install it:

sudo apt-get install gstreamer0.10-pocketsphinx

Moreover, we have to

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