Send data via USB-CAN in ROS

CANalyst-II Linux version
ROS kinetic

1. Creating a catkin Package, for example:

cd ~/catkin_ws/src
catkin_create_pkg can_send_lv std_msgs rospy roscpp

2. Adding or replacing with these files in this repository. The two files in the inlcude dictionary are provied by the USB-CAN seller

3. Building the catkin workspace

cd ~/catkin_ws
catkin_make 

4. Running

roscore

In a new terminal,

rosrun can_send_lv can_send

The normal user should have the authority to read/write the corresponding USB device.