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I'm not sure if you still need help with this but normally you would have to install the socketcan_interface package on your computer. You can do this by typing:

sudo apt-get install ros-[your_distribution]-socketcan_interface

So in my case, I would type:

sudo apt-get install ros-indigo-socketcan_interface

Then you should be able to use the code above.

I'm not sure if you still need help with this but normally you would have to install the socketcan_interface package on your computer. You can do this by typing:

sudo apt-get install ros-[your_distribution]-socketcan_interface
ros-[your_distribution]-socketcan-interface

So in my case, I would type:

sudo apt-get install ros-indigo-socketcan_interface
ros-indigo-socketcan-interface

Then you should be able to use the code above.