AndyZe

How about `openai_msgs`? `robosoft_ai_msgs` just doesn't roll off the tongue, and the PR has nothing to do with robosoft, functionally

I could do `openai_prompt_msgs` if you like. The messages are for prompting OpenAI. Like I said before, it's very hard to nail down a specific application; the inputs will be...

Will you accept `prompt_msgs` @marcoag ? Surely prompting is something concrete.

I think we all agree, if OpenAI ever wants to officially release a ROS package, they can have the package name back. In case that's the holdup.

Noting that 4 long-standing, high-level ROS contributors have already deliberated over these message formats/naming.

OK, this should be ready @marcoag and @Yadunund. Thank you (truly) for helping find good package names. It was worth iterating.

Part of the reason for the long `servo_calcs` build time is that all of the tests are compiled with it, I think: https://github.com/ros-planning/moveit2/blob/ddd50ce124a4f2c6ca67ad9c5738d4f16e718168/moveit_ros/moveit_servo/include/moveit_servo/servo.h#L92

IIRC you can specify a default controller name. For example: https://github.com/ros-planning/moveit_resources/blob/394a3c6aba9da34d5317697fdb0db2c9acc8ebd8/panda_moveit_config/config/moveit_controllers.yaml#L10 Just turn off `moveit_manage_controllers` so trajectories execute with that controller by default, instead of searching for an active controller....

I think the controller search logic should just be deleted. If you try what I wrote above and it still doesn't work, then I support your idea :+1:

> I would have to make sure that the streaming controller is inactive before executing a trajectory that should use the joint trajectory controller. The ros2_control resource manager should prevent...