Dependancies:

sudo apt-get install gstreamer0.10-pocketsphinx
sudo apt-get install ros-indigo-pocketsphinx
sudo apt-get install ros-indigo-audio-common
sudo apt-get install libasound2
sudo apt-get install gstreamer0.10-gconf

Pocket sphinx: http://wiki.ros.org/pocketsphinx
Voice control guide: http://edu.gaitech.hk/turtlebot/speech-doc.html

LMTool: http://www.speech.cs.cmu.edu/tools/lmtool-new.html
Guide: https://cmusphinx.github.io/wiki/tutoriallm/