Pocketsphinx fatal error

edit

when i run this commandroslaunch pocketsphinx robocup.launch

then it gives me error:

FATAL_ERROR: "fe_sigproc.c", line 405: Failed to create filterbank, frequency range does not match. Sample rate 8000.000000, FFT size 512, lowerf 4765.625000 < freq -15.625000 > upperf 4218.750000.

full :

started roslaunch server http://YourSoulisMine:44601/

SUMMARY
========

PARAMETERS
* /recognizer/dict: /home/meow/catkin...
* /recognizer/lm: /home/meow/catkin...
* /rosdistro: kinetic
* /rosversion: 1.12.7

NODES
/
recognizer (pocketsphinx/recognizer.py)
voice_cmd_vel (pocketsphinx/voice_cmd_vel.py)

auto-starting new master
process[master]: started with pid [3437]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 20ce8556-6898-11e7-88b0-08d40c6bd6ea
process[rosout-1]: started with pid [3450]
started core service [/rosout]
process[recognizer-2]: started with pid [3454]
process[voice_cmd_vel-3]: started with pid [3461]
INFO: cmd_ln.c(691): Parsing command line:
gst-pocketsphinx \
-samprate 8000 \
-cmn prior \
-fwdflat no \
-bestpath no \
-maxhmmpf 2000 \
-maxwpf 20 

Current configuration:
[NAME]      [DEFLT]     [VALUE]
-agc        none        none
-agcthresh  2.0     2.000000e+00
-alpha      0.97        9.700000e-01
-ascale     20.0        2.000000e+01
-aw     1       1
-backtrace  no      no
-beam       1e-48       1.000000e-48
-bestpath   yes     no
-bestpathlw 9.5     9.500000e+00
-bghist     no      no
-ceplen     13      13
-cmn        current     prior
-cmninit    8.0     8.0
-compallsen no      no
-debug              0
-dict               
-dictcase   no      no
-dither     no      no
-doublebw   no      no
-ds     1       1
-fdict              
-feat       1s_c_d_dd   1s_c_d_dd
-featparams         
-fillprob   1e-8        1.000000e-08
-frate      100     100
-fsg                
-fsgusealtpron  yes     yes
-fsgusefiller   yes     yes
-fwdflat    yes     no
-fwdflatbeam    1e-64       1.000000e-64
-fwdflatefwid   4       4
-fwdflatlw  8.5     8.500000e+00
-fwdflatsfwin   25      25
-fwdflatwbeam   7e-29       7.000000e-29
-fwdtree    yes     yes
-hmm                
-input_endian   little      little
-jsgf               
-kdmaxbbi   -1      -1
-kdmaxdepth 0       0
-kdtree             
-latsize    5000        5000
-lda                
-ldadim     0       0
-lextreedump    0       0
-lifter     0       0
-lm             
-lmctl              
-lmname     default     default
-logbase    1.0001      1.000100e+00
-logfn              
-logspec    no      no
-lowerf     133.33334   1.333333e+02
-lpbeam     1e-40       1.000000e-40
-lponlybeam 7e-29       7.000000e-29
-lw     6.5     6.500000e+00 
-maxhmmpf   -1      2000  
-maxnewoov  20      20
-maxwpf     -1      20
-mdef               
-mean                
-mfclogdir          
-min_endfr  0       0
-mixw               
-mixwfloor  0.0000001   1.000000e-07
-mllr               
-mmap       yes     yes
-ncep       13      13
-nfft       512     512 
-nfilt      40      40
-nwpen      1.0     1.000000e+00
-pbeam      1e-48       1.000000e-48
-pip        1.0     1.000000e+00
-pl_beam    1e-10       1.000000e-10
-pl_pbeam   1e-5        1.000000e-05
-pl_window  0       0
-rawlogdir          
-remove_dc  no      no
-round_filters  yes     yes
-samprate   16000       8.000000e+03
-seed       -1      -1
-sendump            
-senlogdir          
-senmgau            
-silprob    0.005       5.000000e-03
-smoothspec no      no
-svspec             
-tmat               
-tmatfloor  0.0001      1.000000e-04
-topn       4       4
-topn_beam  0       0
-toprule            
-transform  legacy      legacy
-unit_area  yes     yes
-upperf     6855.4976   6.855498e+03
-usewdphones    no      no
-uw     1.0     1.000000e+00
-var                
-varfloor   0.0001      1.000000e-04
-varnorm    no      no
-verbose    no      no
-warp_params            
-warp_type  inverse_linear  inverse_linear
-wbeam      7e-29       7.000000e-29
-wip        0.65        6.500000e-01
-wlen       0.025625    2.562500e-02

FATAL_ERROR: "fe_sigproc.c", line 405: Failed to create filterbank, frequency range does not match. Sample rate 
8000.000000, FFT size 512, lowerf 4765.625000 < freq -15.625000 > upperf 4218.750000 ...