Linux CAN (SocketCAN: can-utils) interface for networking CAN Bus support to the Linux Kernel
All platforms use CAN as the low-level communication protocol but each DBW system has its own implementation (DBC).
At this time, some vendors provide ROS drivers which can utilize either 'kvaser_interface' or 'socketcan_interface' ROS nodes to communicate with their DBW system while others use their own proprietary hardware and software interface for CAN communication below the ROS layer.