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It might be a little bit too late, but you can find more information on the CAN implementation here: http://wiki.ros.org/socketcan_interface

The current implementation just wraps the SocketCAN net interface (not to be confused with the actual device, maybe we should rename the parameter name). I have tested PEAK and ESD only and both came up as can0, can1 etc.

However, KVASER should be supported since kernel 3.8: http://www.kvaser.com/faq/linux-can-use-socketcan-kvaser-interface/ If the can-utils work, then ros_canopen should work as well.