diff --git a/canopen_motor_node/src/motor_chain.cpp b/canopen_motor_node/src/motor_chain.cpp
index f1188f921..cbd37f9e1 100644
--- a/canopen_motor_node/src/motor_chain.cpp
+++ b/canopen_motor_node/src/motor_chain.cpp
@@ -1,30 +1,9 @@
 
 #include <canopen_motor_node/motor_chain.h>
 #include <canopen_motor_node/handle_layer.h>
-
+#include <socketcan_interface/xmlrpc_settings.h>
 using namespace canopen;
 
-
-class XmlRpcSettings : public Settings{
-public:
-    XmlRpcSettings() {}
-    XmlRpcSettings(const XmlRpc::XmlRpcValue &v) : value_(v) {}
-    XmlRpcSettings& operator=(const XmlRpc::XmlRpcValue &v) { value_ = v; return *this; }
-private:
-    virtual bool getRepr(const std::string &n, std::string & repr) const {
-        if(value_.hasMember(n)){
-            std::stringstream sstr;
-            sstr << const_cast< XmlRpc::XmlRpcValue &>(value_)[n]; // does not write since already existing
-            repr = sstr.str();
-            return true;
-        }
-        return false;
-    }
-    XmlRpc::XmlRpcValue value_;
-
-};
-
-
 MotorChain::MotorChain(const ros::NodeHandle &nh, const ros::NodeHandle &nh_priv) :
         RosChain(nh, nh_priv), motor_allocator_("canopen_402", "canopen::MotorBase::Allocator") {}
 
diff --git a/socketcan_interface/include/socketcan_interface/xmlrpc_settings.h b/socketcan_interface/include/socketcan_interface/xmlrpc_settings.h
new file mode 100644
index 000000000..da7a196a9
--- /dev/null
+++ b/socketcan_interface/include/socketcan_interface/xmlrpc_settings.h
@@ -0,0 +1,28 @@
+#ifndef SOCKETCAN_INTERFACE_XMLRPC_SETTINGS_H
+#define SOCKETCAN_INTERFACE_XMLRPC_SETTINGS_H
+
+#include <socketcan_interface/settings.h>
+#include "xmlrpcpp/XmlRpcValue.h"
+#include <sstream>
+#include <string>
+
+class XmlRpcSettings : public can::Settings {
+public:
+    XmlRpcSettings() {}
+    XmlRpcSettings(const XmlRpc::XmlRpcValue &v) : value_(v) {}
+    XmlRpcSettings& operator=(const XmlRpc::XmlRpcValue &v) { value_ = v; return *this; }
+private:
+    virtual bool getRepr(const std::string &n, std::string & repr) const {
+        if(value_.hasMember(n)){
+            std::stringstream sstr;
+            sstr << const_cast< XmlRpc::XmlRpcValue &>(value_)[n]; // does not write since already existing
+            repr = sstr.str();
+            return true;
+        }
+        return false;
+    }
+    XmlRpc::XmlRpcValue value_;
+
+};
+
+#endif