The sort of solution you require is determined by both the type of bar and your own preferences. The bar grips may work if you have flat bars, but I suggest tape for bullhorns, drops, and other maneuvers.
The thing to think about with tape is whether or not you'll be riding it in the rain. When some tape becomes wet, it becomes extremely slippery. What kind of cushioning do you want? I have soft cork tape, as well as thin vinyl and cotton tapes, which feel extremely different.
When it's time to replace, I generally choose for cork for my daily commute. It's plush, gripping when wet, reasonably priced, and, in my opinion, easier to install for a novice than some of the others. It's also available in a variety of colors.
I've never used Brooks tape, but I know some riders who swear by it in general, as well as some riders who don't.