在linux环境中调用科大讯飞SDK，与ROS 相结合实现语音控制.APPID对应的就是我申请的SDK包
catkin_make没有出现任何错误，但是在进行语音识别时却出现了用户校验失败错误：
qrx@qrx-pc:~/catkin_ws/src/robot_voice/src$ roslaunch robot_voice voice_control_turtlesim.launch
... logging to /home/qrx/.ros/log/7fc11f2a-45b5-11ec-9f3e-f85971b55a45/roslaunch-qrx-pc-6054.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://qrx-pc:41151/
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.17
NODES
/
iat_publish (robot_voice/iat_publish)
myTurtle (turtlesim/turtlesim_node)
voiceToCmd (robot_voice/voice_cmd_vel.py)
ROS_MASTER_URI=http://localhost:11311
process[iat_publish-1]: started with pid [6071]
process[voiceToCmd-2]: started with pid [6072]
process[myTurtle-3]: started with pid [6081]
[ INFO] [1636940844.066660673]: Sleeping...
waking up
[ INFO] [1636940844.211750390]: Starting turtlesim with node name /myTurtle
[ INFO] [1636940844.216927602]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
[ INFO] [1636940844.767004609]: Wakeup...
Demo recognizing the speech from microphone
Speak in 8 seconds
Start Listening...
Recognizer error 10407
Not started or already stopped.
libmsc.so文件用的就是我下载的SDK包里的，也放进了路径里面，还是报错，该怎么解决呢？
/usr/lib
系统：Linux ubuntu16.04 环境：ros kinetic
