You can use this package with a PCAN-USB or a PCAN-PCI adapter from http://www.peak-system.com.
First build the library with
rosdep install libpcan rosmake libpcan
Afternwards install the module with
roscd libpcan sudo ./install_pcan.sh
After this procedure the driver is installed for your system (and your kernel so you have to repeat the procedure once your kernel has changed). To activate the driver you have to restart the system or if you want to avoid that manual load the driver with:
sudo modprobe pcan
After restart the driver will be activated automatically.
You can verify the result with the command:
ls -l /dev/pcan*
If you need additional documentation you can read the manual : Pcan driver for linux