Are you 65 now? If so, presumably you can arrange to draw your pension from your Canadian employment. I know nothing about Canadian pensions but I know of many countries where you can draw a pension from overseas with no trouble. I doubt if Canada is any different.
If you're not yet 65 and just looking to move the accumulated pension fund from Canada to Ireland, you need to get in touch with the Canadian pension provider and ask them what requirements they have for transferring a pension fund to Ireland. They may have a list of conditions surrounding the pension vehicle into which you propose to transfer.