How to create a rosnode to read canbus data?
I want to create a rosnode which is reading data from the canbus and another rosnode which is decoding that data and producing messages on independently.
Rather than recreating something that exists, I would recommend you research what kind of ROS support is already available for CAN communication (socketcan, canopen). If you have already looked at them, and deemed them unworthy of your use case, please let us know why so we can help you better.