$ sudo apt install ros-noetic-audio-common
$ sudo apt install libasound2
$ sudo apt install -y gstreamer1.0- *
相当于安装gstreamer1.0下所有的依赖，但在执行时会出现如下图问题
python包之间的冲突，这时候就需要将gstreamer1.0下的除开其中一个下载，比如下载python3-dbg-plugin-loader
$ sudo apt install python3-gst-1.02.安装pocketphinx包
1）安装libsphinxbase1
sudo apt install libsphinxbase3
2）安装libpocketsphinx1
sudo apt install python3-pocketsphinx pip3 install PocketSphinx
安装问题：
1)No module named 'pyaudio'
sudo apt-get install python-all-dev sudo apt-get install portaudio19-dev
pip install pyaudio
2)command 'swig' failed with exit status
sudo apt install swing
3）安装gstreamer1.0-pocketsphinx
sudo apt install gstreamer1.0-pocketsphinx
