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We are also currently working with field robots that use J1939 CAN hydraulic valve controllers. We use CAN communication cards that are compatible with SocketCAN. This makes it extremely easy to send CAN messages from a C++ API. CANopen is limited to industrial robots, which may/may not be what you're using. But if CANopen isn't a possibility, SocketCAN is your next best option. There is USB2CAN from 8devices which is $60, as well as mini PCI-E cards from Innodisk, both of which we have tested and are currently using. The write method of your hardware_interface simply writes a CAN message onto the bus.
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