diff --git a/doc/how_to_guides/pick_ik/pick_ik_tutorial.rst b/doc/how_to_guides/pick_ik/pick_ik_tutorial.rst
index 8d5fea3671..4704570d20 100644
--- a/doc/how_to_guides/pick_ik/pick_ik_tutorial.rst
+++ b/doc/how_to_guides/pick_ik/pick_ik_tutorial.rst
@@ -78,7 +78,7 @@ robot's config directory to use pick_ik as the IK solver. ::
 
 .. note::
 
-   You can launch a preconfigured demo with ``pick_ik`` using the following command:
+   After you have installed ``pick_ik``, you can also launch a preconfigured demo using the following command:
 
    .. code-block::
 
diff --git a/moveit2_tutorials.repos b/moveit2_tutorials.repos
index bcc53b3ce2..5960831102 100644
--- a/moveit2_tutorials.repos
+++ b/moveit2_tutorials.repos
@@ -40,7 +40,3 @@ repositories:
     type: git
     url: https://github.com/moveit/moveit_msgs
     version: ros2
-  pick_ik:
-    type: git
-    url: https://github.com/PickNikRobotics/pick_ik
-    version: main
diff --git a/package.xml b/package.xml
index bf9505634d..c0f2c20301 100644
--- a/package.xml
+++ b/package.xml
@@ -36,7 +36,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>moveit_task_constructor_core</depend>
-  <depend>pick_ik</depend>
 
   <build_depend>eigen</build_depend>
   <build_depend>geometric_shapes</build_depend>