ROS执行语音pocketsphinx错误：pocketsphinx/nodes/recognizer.py __name:=recognizer __log

ROS执行错误：pocketsphinx/nodes/recognizer.py __name:=recognizer __log

 

错误信息：

[recognizer-2] process has died [pid 18240, exit code -11, cmd /home/dwy/turbot3_ws/src/turbot3/pocketsphinx/nodes/recognizer.py __name:=recognizer __log:=/home/dwy/.ros/log/c9cfe66a-837e-11e9-b6ab-d89c6783a611/recognizer-2.log].
log file: /home/dwy/.ros/log/c9cfe66a-837e-11e9-b6ab-d89c6783a611/recognizer-2*.log

 

 

原因：

设置lm，dic,hmm参数的具体链接路径错误，重新修改。

修改launch文件(robucup.launch，voice_commands)的参数的路径

 

 

解决办法：

cd turbot3_voice

cd launch

vim voice_commands.launch

<launch>

    <node name="recognizer" pkg="pocketsphinx" type="recognizer.py" output="screen">
        <param name="lm" value="$(find v_pocketsphinx)/config/commands.lm"/>
        <param name="dict" value="$(find v_pocketsphinx)/config/commands.dic"/>
        <param name="hmm" value="$(find v_pocketsphinx)/config/pocketsphinx-en/model/hmm/en/hub4wsj_sc_8k"/>
    </node>

</launch>