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The main error is here:

ResourceNotFound: [epsonURDF_gripper_moveit_config]

roslaunch cannot find that package in your workspace. Some things to check:

1. is there actually package called epsonURDF_gripper_moveit_config in your catkin_ws/src?
2. make sure you're using the package name, which does not necessarily need to be the same as the name of the directory
3. have you (re)built your workspace after adding the epsonURDF_gripper_moveit_config package to it?
4. make sure there are no typos in epsonURDF_gripper_moveit_config (note that Linux is case sensitive)

Easy check:

rospack find epsonURDF_gripper_moveit_config

should return the location of your package. If it doesn't, roslaunch won't be able to find it either.

The main error is here:

ResourceNotFound: [epsonURDF_gripper_moveit_config]

roslaunch cannot find that package in your workspace. Some things to check:

1. is there actually a package called epsonURDF_gripper_moveit_config in your catkin_ws/src?
2. make sure you're using the package name, which does not necessarily need to be the same as the name of the directory
3. have you (re)built your workspace after adding the epsonURDF_gripper_moveit_config package to it?
4. make sure there are no typos in epsonURDF_gripper_moveit_config (note that Linux is case sensitive)

Easy check:

rospack find epsonURDF_gripper_moveit_config

should return the location of your package. If it doesn't, roslaunch won't be able to find it either.