ROS 2 is by far the most favorite software framework for robotics.
I just created a ROS 2 driver package for usb to can device below.
You can download this package to your ros2 workspace and build by colcon command.
This simple node will publish can message as a topic as “can_rx” upon receiving any message and subscribe topic to “can_tx” for whatever can message which will be sent to the usb-to-can device.
Before running this node, you need to call below command to open the socket can.
sudo ip link set can0 type can bitrate 1000000 (or whatever bitrate you want to use)
sudo ip link set can0 up
I tested this package on ros2 foxy running on ubuntu 20.04.
I hope someone find this package useful for their project.
Also I always welcome to anyone who want to participate in developing this package as well.