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The node fails to find feat.param file in the location specified with -lm option within the node.
You need to correct the path of lm defined in robocup.launch
Make sure that the path it mentions exists.

If you are still having trouble, you should try out this new ROS package for pocketsphinx:
https://github.com/cmusphinx/ros-pocketsphinx
It is much easier to set it up, works out of the box and has better wiki.

And if you are still having trouble, you can simply open an issue. The package is actively maintained. Someone will answer your queries much sooner.