The Robotic arm on the Husky A200 from Clearpath robotics can be controlled using moveit2 in ROS 2 but due to the lack of compute on the Husky A200 it is more stable to use the UR Dashboard server. This allows simple commands to be sent through a socket on port 29999. You can learn more about the UR Dashboard server at this link and this one. Here is some example code for triggering programs using the dashboard server.

```python

!/usr/bin/env python3

import socket

Define robot IP and dashboard port

ROBOT_IP = "192.168.131.40" DASHBOARD_PORT = 29999

def send_command(command): """Open a connection, send the command, print and return the response.""" with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s: s.connect((ROBOT_IP, DASHBOARD_PORT)) # The robot sends an initial welcome message upon connecting. welcome = s.recv(1024).decode('utf-8').strip() print("Welcome message:", welcome) # Send the command (ending with newline) s.sendall((command + "\n").encode('utf-8')) # Receive the response response = s.recv(1024).decode('utf-8').strip() print(f"Response for '{command}': {response}") return response

Power On

response = send_command("power on") print(f"Power On Response: {response}")

Release Brake

response = send_command("brake release") print(f"Brake Release Response: {response}")

Load the program "grap_water_bottle"

response = send_command("load grap_water_bottle.urp") print(f"Power On Response: {response}")

Play the program

response = send_command("play") print(f"Power On Response: {response}")