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  1. Verify that Kvaser Linuxcan SDK has been installed in /usr/src/ followed by a reboot
  2. Reboot to load the necessary modules.
  3. cd cd /usr/src/kvaser-drivers-dkms-<version>doc/canlib/examples
  4. ./listChannels

    1. The output should look similar to:

      Found 2 channels.

      Code Block
      languagebash
      themeMidnight
      CANlib version 5.30
Found 4 channel(s).
ch  0: = Kvaser USBcan Pro 2xHS v2,Light 4xHS 73-30130-0075200831-91, (0)10241s/n 10761, 2.6.0.462
channel 1 = v3.9.467  (mhydra v8.30.995)
ch  1: Kvaser USBcan ProLight 2xHS4xHS v2, 73-30130-0075200831-91, (0)10241s/n 10761, 2.6.0.462v3.9.467  (mhydra v8.30.995)


  5. The number following the (0)the "s/n" in each of these lines is the CAN Hardware ID (serial number).

  6. The CAN Circuit ID is the 0-based index of the channel that you're using on a specific piece of hardware. For example, the first channel listed here would be CAN Circuit ID 0 and the 2nd would be CAN Circuit ID 1. This ordering starts over for each piece of hardware. If there were two more channels here on another Kvaser USBcan Pro, they would also be CAN Circuit ID 0 and 1 respectively.
  7. Edit the launch file for the hardware you are attempting to interface with using the values you got above for the CAN Hardware ID and CAN Circuit ID.

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