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Hi, I could solve the issue by changing a line in "your_ws/src/openai_ros/openai_ros/package.xml."

I guess that you can find the code <build_depend>python-catkin-pkg</build_depend> on line 14 or around it. Although Noetic works on Python3 basically, this code declares catkin-pkg for python2. So, I changed the code to <build_depend>python3-catkin-pkg</build_depend> or <build_depend>python3-catkin-pkg-modules</build_depend>. Sorry for the vagueness since it has been a while since I dealt with it. But, either, or both, of them worked well for me. I hope it is also the case for you.