Requirements: Install sphinx sudo apt-get install gstreamer0.10-pocketsphinx
How to Run: roslaunch pi_speech_tutorial voice_nav_commands.launch (launches recognizer) roslaunch pi_speech_tutorial turtlebot_voice_.launch (launches the command roslaunch bwi_launch segbot_v2.launch rosrun lights serialOut (run the arduino code on arduino ide once before start program to get LEDs to word)
How it works: Each package contains a README.txt file detailing how it indiviually works.