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This is probably a terrible answer, but my machine had the can-utils installed: https://gitorious.org/linux-can/can-utils/source/67a2bdcd336e6becfa5784742e18c88dbeddc973 ... so I borrowed some of that code and tweaked it and wrote a node that sends CAN commands based on the can-utils cansend.c file that works just fine for my purposes. I just needed a proof of concept so this was a quick and dirty way to prove I could send CAN messages from a ROS node. This won't be my final production code, though. I will look into the cob_generic_can package to see what benefits it gives me.