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I took me a bit longer to get this done and documented than I thought it would, but as promised, here is the tutorial and files for how to do basic robot speech recognition based on pocketsphinx. It also includes a handy wav file player based on sfml and derived from Garratt Gallagher's kinect piano playing code. The wav/audio player can also be used separately from the speech recognition code as a convenient and dependable way to play audio files. Instead of uploading the tutorial here, I have created a google.code page. You will find the code samples under the downloads page and the tutorial details on the wiki page. The link to the tutorial home is at...

http://code.google.com/p/ros-pocketsphinx-speech-recognition-tutorial/

If anyone creates some great new code derived from this and extends or improves this work, please create a google.code site of your own (very easy) and post the link to your work and code samples here so others can benefit from it as well. Best Regards, -Scott