From 09fc8a467fcc3fe53dabadf0cc95502e4f940596 Mon Sep 17 00:00:00 2001
From: cc <55869557+TomCC7@users.noreply.github.com>
Date: Wed, 17 Dec 2025 01:03:39 -0500
Subject: [PATCH] feat: openarm_can as a ros package (#73)

Related to https://github.com/enactic/openarm_can/pull/74 and
https://github.com/enactic/openarm/pull/359. The edit makes it possible
to include `openarm_can` as a ros2 workspace package and built together
with colcon. It still possible to install openarm_can systemwide.
---
 openarm.repos                   | 19 +++++++++++++++++++
 openarm_hardware/CMakeLists.txt |  1 +
 openarm_hardware/package.xml    |  1 +
 3 files changed, 21 insertions(+)
 create mode 100644 openarm.repos

diff --git a/openarm.repos b/openarm.repos
new file mode 100644
index 0000000..b3cce35
--- /dev/null
+++ b/openarm.repos
@@ -0,0 +1,19 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+repositories:
+  openarm_can:
+    type: git
+    url: https://github.com/enactic/openarm_can.git
+    version: main
\ No newline at end of file
diff --git a/openarm_hardware/CMakeLists.txt b/openarm_hardware/CMakeLists.txt
index 9f1cf11..1ed4692 100644
--- a/openarm_hardware/CMakeLists.txt
+++ b/openarm_hardware/CMakeLists.txt
@@ -70,6 +70,7 @@ ament_export_libraries(
 )
 ament_export_dependencies(
   hardware_interface
+  openarm_can
   pluginlib
   rclcpp
 )
diff --git a/openarm_hardware/package.xml b/openarm_hardware/package.xml
index dc132e3..0a89278 100644
--- a/openarm_hardware/package.xml
+++ b/openarm_hardware/package.xml
@@ -26,6 +26,7 @@
 
   <depend>rclcpp</depend>
   <depend>hardware_interface</depend>
+  <depend>openarm_can</depend>
   <depend>pluginlib</depend>
 
   <test_depend>ament_lint_auto</test_depend>