Running Can Radar on Ros through Raspberry Pi 2

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socketcan_interface is released for PCs and even armhf platforms, so it might run on the raspberry pi 2 out of the (ROS) box. If candump can0 works then rosrun socketcan_interface socketcan_dump can0 should work as well.

It works asynchronously, if that does not suit your purpose, you should work with raw socketcan as @ahendrix suggested.

A simple program (without error handling) with socketcan_interface:

#include <socketcan_interface/socketcan.h>
#include <socketcan_interface/threading.h>
#include <socketcan_interface/string.h>

void handleFrames(const can::Frame &f){
    // handle all frames
    LOG("got: " << can::tostring(f, true)); // lowercase: true
}
void handleFrame123(const can::Frame &f){
    // handle specific frame
    LOG("123? " << can::tostring(f, true)); // lowercase: true
}
int main(){
    can::ThreadedSocketCANInterface driver;
    if(!driver.init("can0", false)) return 1; // read own messages: false

    can::CommInterface::FrameListener::Ptr all_frames = driver.createMsgListener(handleFrames);
    can::CommInterface::FrameListener::Ptr one_frame = driver.createMsgListener(can::MsgHeader(0x123), handleFrame123); // handle only frames with CAN-ID 0x123

    for(int i=0; i <10; ++i){  // send 10 messages, one per second
        driver.send(can::toframe("042#23")); // cansend syntax
        boost::this_thread::sleep_for(boost::chrono::seconds(1));
    }

    driver.shutdown();        
    return 0;
}