Issue running pocketsphinx over ssh

asked 2016-03-24 11:17:15 -0500

tgibbons gravatar image

I have a launch file which starts up a node for the pocketsphinx voice recognizer:

  <node name="recognizer" pkg="pocketsphinx" type="recognizer.py" output="screen" >
    <param name="lm" value="$(find rbx1_speech)/config/turtle_commands.lm"/>
    <param name="dict" value="$(find rbx1_speech)/config/turtle_commands.dic"/>   
 </node>

This works fine when I run it locally on my turtlebot, but when I ssh into the turtlebot and run it, I get the following error messages:

(recognizer.py:3629): GConf-WARNING **: Client failed to connect to the D-BUS daemon:
Unable to autolaunch a dbus-daemon without a $DISPLAY for X11

** (recognizer.py:3629): WARNING **: gst_gconf_get_string: error: No D-BUS daemon running

So the node doesn't stay up. I didn't think pocketsphinx was doing anything graphical, so I don't understand why it might need an X windows display. I'm not familiar with the D-BUS daemon or what it does, so I'm a little lost.

Anyone know if I should be able to run the recognizer node from pocketsphinx through ssh? Anyone familiar with this type of error?

I am running ROS indigo on Ubuntu 14.04. Been search for solutions or explanations and read through the recognizer.py without gaining any insight.

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