February 2026 (PickNikRobotics/moveit_pro_example_ws): Focused cleanup and modularization of the Franka/UR driver integration to reduce configuration friction and improve maintainability, while establishing a clear separation between hardware and simulation components. Key actions: - Removed the moveit_studio_ur_pstop_manager and UR driver dependencies, and cleaned up related launch files. This eliminated unnecessary wires and dependencies across simulations (lab_sim, april_tag_sim, hanger_sim, multi_arm_sim, and picknik_ur_base_config), reducing configuration requirements and dependency conflicts. (Commit: 9bf76f3419243f50b4dbcf0f74dafb91b086b1ac) - Migrated Franka hardware packages to a dedicated franka_hw repository to decouple libfranka-based hardware dependencies from simulation assets, and reorganized remaining Franka packages for better maintainability (Contracts: franka_arm_hw, franka_dual_arm_hw, franka_behaviors, and the franka_ros2 submodule; top-level moves: kitchen_sim and dual_arm_sim to src/, franka_base_config in src/moveit_pro_franka_configs/, franka_description submodule retained). (Commit: 44697dadfdfc7966a253a7ad0902b3dc4ea91148) Impact and value: - Business value: reduced integration risk and maintenance effort, enabling faster onboarding and reuse across projects due to a leaner dependency graph and clearer hardware vs. simulation separation. - Technical achievements: improved build and runtime reliability, cleaner repository structure, and better alignment with modular ROS 2 best practices. Technologies/skills demonstrated: - ROS 2 package management and dependency cleanup - Multi-repo coordination and hardware/software decoupling - Repo restructuring, submodules, and honest launch/file maintenance - Cross-team collaboration (co-authored changes)