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We recently provided a very simple example of using pocketsphinx-python to control turtlebot.

Compared to similar projects that I've found (if I missed some better ones, please let me know) so far the advantages are:

• removed GStreamer dependency
• support latest CMU Sphinx decoder (pocketsphinx-5prealpha) with its last features and models for several languages
• key phrase spotting mode that allows continuous listening and filtering out-of-vocabulary words and noises
• simple code (one python script) and tutorial for the beginners

I'll be happy for any suggestions on how to integrate this properly in ROS community.