This is a minimal amount of code needed to start ROS and communicate with a motor controller over CAN using the ros_canopen package. ROS is running on an Nvidia JetsonTX2, and communicating with a Roboteq SDC3260 motor controller.
The Jetson is running SocketCAN.
"ros-kinetic-ros-canopen" is the Ubuntu apt package used.
"ros-kinetic-desktop-full" is the Ubuntu ROS installation used.
CAN transceiver connected to Jetson: https://www.waveshare.com/wiki/SN65HVD230_CAN_Board
SDC3260 Motor controller: https://www.roboteq.com/index.php/roboteq-products-and-services/brushed-dc-motor-controllers/405/sdc3260-detail
Motor: [Brushed DC motor from Anaheim Automation]
cd ros_canopen_demo_JetsonTX2_RoboteqSDC3260
./start_robot.sh