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Looks like I was still remapping cmd_vel to turtlebot_node/cmd_vel in the turtlebot_voice_nav.launch file as used to be necessary in Diamondback but no longer in Electric. The latest SVN version has been fixed so you could do an "svn update" in the pi_speech_tutorial directory. Alternatively, simply delete the following line from the turtlebot_voice_nav.launch file:

<remap from="cmd_vel" to="/turtlebot_node/cmd_vel"/>

Please let us know if that fixes the problem. (You can check this answer as accepted if it does.)