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How can I bring into JOSM a Esri Map Service?
For example:

http://sampleserver1.arcgisonline.com/ArcGIS/rest/services/Demographics/ESRI_Census_USA/MapServer

Googling around I found How can I create an adapter between the ArcGIS REST interface and WMS or TMS? but what if the Esri map service does not have WMS or TMS enabled?

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WMS and TMS was not enabled, but WMTS was (thank you @wetland), so I used that instead. What worked for me was:

http://myurl.com/ArcGIS/rest/services/foldername/servicename/MapServer/WMTS?SERVICE=WMTS&REQUEST=getcapabilities&f=json

I tacked on the &f=json because service directory browsing was disabled and I think that was throwing off josm too.

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