To install the canbus ros interface, install the following dependencies

sudo apt install ros-noetic-ros-canopen 
sudo apt install can-utils 

after installing the packages clone the repository into the ros workspace

git clone https://github.com/Muhayyuddin/usv_driver.git

build the ros workspace using catkin_make or catkin build

run the following script

./can-port-initialization/slcanUp

launch the node using the launch file as below

roslaunch rot_pod test_setup.launch

now we can see the thrusters and the pods as ros topics using rostopic list

usv_navigation node provides a simple example to publish the values to the pods and thrusters

The packages in this repository are cloned from https://bitbucket.org/spinitalia/spin_mini_cat/src/dev/