Switch to upstream epick driver, fix build issue from epick

.gitignore

@@ -91,3 +91,9 @@ target/
 
 #Pixi
 pixi.lock
+
+# End effector drivers (imported via vcs)
+src/end_effectors/serial/
+src/end_effectors/robotiq_hande_driver/
+src/end_effectors/robotiq_hande_description/
+src/end_effectors/ros2_epick_gripper/

src/end_effectors/README.md

@@ -14,9 +14,17 @@ This pulls in:
 - `serial` - ROS2 serial communication
 - `robotiq_hande_driver` - Robotiq HandE gripper driver
 - `robotiq_hande_description` - Robotiq HandE URDF models
-- `ros2_epick_gripper` - EPick vacuum gripper driver 
+- `ros2_epick_gripper` - EPick vacuum gripper driver
 
-**Note:** The EPick driver uses a fork from https://github.com/bondada-a/ros2_epick_gripper.git instead of the upstream PickNikRobotics version. This fork includes updated headers and removes the epick_moveit_studio package (requires Moveit Pro).
+**Note:** The `ros2_epick_gripper` repository includes `epick_moveit_studio` which depends on paywalled MoveIt Studio/MoveIt Pro packages. Since we don't use this package, skip it during build and dependency installation:
+
+```bash
+# Install dependencies
+rosdep install --from-paths src --ignore-src -y --skip-keys moveit_studio_behavior_interface
+
+# Build workspace (skip epick_moveit_studio)
+colcon build --packages-skip epick_moveit_studio
+```
 
 ## EPick Configuration
 

src/end_effectors/end_effectors.repos

@@ -13,5 +13,5 @@ repositories:
     version: humble-devel
   ros2_epick_gripper:
     type: git
-    url: https://github.com/bondada-a/ros2_epick_gripper.git
+    url: https://github.com/PickNikRobotics/ros2_epick_gripper.git
     version: main

src/end_effectors/epick_config/package.xml

@@ -14,7 +14,7 @@
   <exec_depend>ros2run</exec_depend>
   <exec_depend>ros2param</exec_depend>
   <exec_depend>rclcpp</exec_depend>
-  <exec_depend>epick_description</exec_depend>
+
 
   <export>
     <build_type>ament_cmake</build_type>