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Voice recognition module for ROS2 foxy

Are there any packages for voice recognition in ROS2 Foxy?
Preferably to work offline like the PocketSphinx.


I’m not sure about something ROS2 specific, but there’s Mozilla Deep Speech, which should run offline:


Audio support in ROS is pretty thin on the ground, but there are a few packages that will bind gstreamer pipelines

This ROS1 package looks like it would be pretty easy to port to ROS2:
Otherwise, a riff on gscam might be doable, the pocketsphinx pipeline is pretty simple.
gst-launch-1.0 autoaudiosrc ! audioconvert ! audioresample ! pocketsphinx ! fdsink fd=1

I’d love to plug my own ros-gstreamer package, but it doesn’t support string payloads yet.