From adade794335a501e8c52533169bb972adcd50665 Mon Sep 17 00:00:00 2001
From: Sutou Kouhei <kou@clear-code.com>
Date: Mon, 22 Jun 2026 17:29:15 +0900
Subject: [PATCH] Install OpenArm CAN as package

---
 .github/workflows/test.yaml | 20 +++++---------------
 1 file changed, 5 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 156ca6d..0fecedf 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -1,4 +1,4 @@
-# Copyright 2025 Enactic, Inc.
+# Copyright 2025-2026 Enactic, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -58,9 +58,13 @@ jobs:
       - name: Install dependencies
         run: |
           sudo apt update
+          sudo apt install -y software-properties-common
+          sudo add-apt-repository -y ppa:openarm/main
+          sudo apt install -y \
           sudo apt install -y -V \
             cmake \
             libkdl-parser-dev \
+            libopenarm-can-dev \
             liborocos-kdl-dev \
             liburdfdom-headers-dev \
             libyaml-cpp-dev \
@@ -69,20 +73,6 @@ jobs:
         with:
           path: openarm_can
           repository: enactic/openarm_can
-      - name: "OpenArm CAN: CMake"
-        run: |
-          cmake \
-            -B openarm_can.build \
-            -S openarm_can \
-            -GNinja \
-            -DCMAKE_INSTALL_PREFIX=$PWD/install \
-            -DCMAKE_BUILD_TYPE=Debug
-      - name: "OpenArm CAN: Build"
-        run: |
-          ninja -C openarm_can.build
-      - name: "OpenArm CAN: Install"
-        run: |
-          ninja -C openarm_can.build install
       - name: CMake
         run: |
           cmake \