The project is forked from bitbucket.

1. Install can-ultils(for socketcan):sudo apt-get install can-utils
2. Connect Kvaser to PC
3. Enable CAN

sudo modprobe can
sudo modprobe can_raw
sudo ip link set can0 type can bitrate 500000
sudo ip link set up can0

4. Your Kvaser can port is enable with name can0, run ifconfig -a and can0 should show up. Connect Kvaser to another CAN device (esr) that is sending out data, then on terminal enter candump can0. You can find data with format like can0 5E4 [8] 03 04 0A 0D 09 08 06 AA.

After setting Kvaser can, the Kvaser CAN light should be turned on. And then install socketcan on ROS:

sudo apt-get install ros-kinetic-socketcan-bridge
sudo apt-get install ros-kinetic-socketcan-interface

And build the ROS package and run roslaunch radar_interface delphi_esr_can.launch to access the data throught socketcan from esr.