CAN bus implementation with OROCOS 2.x


I will use a CAN bus to communicate with a robot and I would like to have some tips. In this moment I have a PEAK USB-CAN interface, but as far as I know Real-Time systems don't support USB HW. Which HW interface do you recommend to work with?

I also saw that the previous version had some CANBus class that is not longer implemented in OROCOS 2.x. (Actually I am using the Orocos-ROS integration) Which could be the best way to work from my RT Orocos components with the CAN interfaces? I was thinking on using directly the driver functions of the CAN interface (PEAK, ESD, ...) but I don't know if there's anything to take into account regarding RT functionality while using them.