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Hey! Pocketsphinx is the right package for you.
But the original package is not well maintained and many have faced difficulties running it on Ubuntu14.04 and above, specially for ROS versions above Indigo.
So, you could instead use this one:
Updated Pocketsphinx It is well maintained, doesn't use GStreamer-like external dependencies, and has much better documentation.
UTNuclearRobotic's version is also a fork of a previous copy of this repo.
It has many modes you can work with including:
kws mode for keyword detection.
asr mode for continuous speech detection
okay-google mode for switching between the above mentioned modes smoothly etc.

You can also find more tutorials about it on the wiki as well as the Medium blogs here:
https://medium.com/@PankajB96/