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AFAIK there is no really 'generic CAN driver node' available, but some packages that interface to CAN do exist. For instance the cob_generic_can package:
The package cob_generic_can provides an interface for nodes on a can-bus and examplary wrappers for two PeakSys-can-libs. When a can-bus-device is generated (for an example see cob_base_drive_chain) you can use generic_can to create as many itfs as there will be components communicating via this can-bus. Assign type of the can communication device (e.g. usb-to-can or can-card of a specific vendor) and can-address of the target device. This package comes with wrappers for PeakSys and PeakSysUSB adapters.
I'm not sure you can directly use this for your specific setup, but it should provide you with enough pointers to get something going.
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