Set Up Virtual CAN Interface

To create virtual CAN communication interface nodes, perform these steps on the terminal on a remote device.

To open a terminal on the remote device, execute these commands in the MATLAB^® Command Window.
```
r=ros2device('<Remote device IP address>','<Remote device username>','<Remote device password>');
r.openShell
```

Load CAN modules.

sudo modprobe vcan # Virtual CAN Modules 
sudo modprobe can-gw # CAN Gateway module required for connecting two virtual CAN Nodes

Create virtual CAN device.

sudo ip link add <canInterfaceName> type vcan # Ex : sudo ip link add vcan0 type vcan

Connect two virtual CAN interfaces using the can-gw module. This module creates a PF_CAN gateway between the virtual CAN interfaces. For example, redirect all the CAN frames sent from vcan0 to vcan1.
```
sudo cangw -A -s vcan0 -d vcan1 -e
```
This command ensures that vcan1 receives every frame sent from vcan0.
You can change the source and destination interfaces and redirect all the CAN frames sent from vcan1 to vcan0.
```
sudo cangw -A -s vcan1 -d vcan0 -e
```
Steps 4 and 5 create a duplex communication between vcan0 and vcan1.

See Also