diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb
index 2e44281..5fcb4e6 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@@ -194,6 +194,9 @@ RDEPENDS_${PN} = "\
     mavros \
     mavros-extras \
     mavlink \
+    can-msgs \
+    socketcan-bridge \
+    socketcan-interface \
 "
 
 # kdl-parser-py requires python-orocos-kdl, which current fails due to #469.
diff --git a/recipes-ros/ros-canopen/can-msgs_0.6.8.bb b/recipes-ros/ros-canopen/can-msgs_0.6.8.bb
new file mode 100644
index 0000000..63b9ee0
--- /dev/null
+++ b/recipes-ros/ros-canopen/can-msgs_0.6.8.bb
@@ -0,0 +1,10 @@
+DESCRIPTION = "CAN related message types."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "std-msgs genmsg message-generation"
+
+RDEPENDS_${PN} = "std-msgs message-runtime"
+
+require ros-canopen.inc
diff --git a/recipes-ros/ros-canopen/ros-canopen.inc b/recipes-ros/ros-canopen/ros-canopen.inc
new file mode 100644
index 0000000..bcf6e83
--- /dev/null
+++ b/recipes-ros/ros-canopen/ros-canopen.inc
@@ -0,0 +1,9 @@
+SRC_URI = "https://github.com/ros-industrial/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "dfee31155f203178be7a7d537a75f162"
+SRC_URI[sha256sum] = "ea66ce536c2f64c0bb3642d7c91df8e3f2e9b54e6ca102c97d6c7429becc8b85"
+
+S = "${WORKDIR}/${ROS_SPN}-${PV}/${ROS_BPN}"
+
+inherit catkin
+
+ROS_SPN = "ros_canopen"
diff --git a/recipes-ros/ros-canopen/socketcan-bridge_0.6.8.bb b/recipes-ros/ros-canopen/socketcan-bridge_0.6.8.bb
new file mode 100644
index 0000000..ddc77dc
--- /dev/null
+++ b/recipes-ros/ros-canopen/socketcan-bridge_0.6.8.bb
@@ -0,0 +1,9 @@
+DESCRIPTION = "Provides nodes to convert messages from SocketCAN to a ROS Topic and vice versa."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "socketcan-interface can-msgs roscpp"
+RDEPENDS_${PN} = "can-msgs"
+
+require ros-canopen.inc
diff --git a/recipes-ros/ros-canopen/socketcan-interface/0001-explicitly-include-iostream-to-compile-with-boost-1..patch b/recipes-ros/ros-canopen/socketcan-interface/0001-explicitly-include-iostream-to-compile-with-boost-1..patch
new file mode 100644
index 0000000..cdfacd2
--- /dev/null
+++ b/recipes-ros/ros-canopen/socketcan-interface/0001-explicitly-include-iostream-to-compile-with-boost-1..patch
@@ -0,0 +1,60 @@
+From 3bf9d9726b278b000a829f639af21d423a38798a Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+Date: Sat, 2 Dec 2017 09:17:02 +0100
+Subject: [PATCH] explicitly include iostream to compile with boost >= 1.65.0
+
+When compiling with boost version >= 1.65.0, it fails with:
+```
+In file included from /[...]/include/socketcan_interface/asio_base.h:4:0,
+                 from /[...]/include/socketcan_interface/socketcan.h:4,
+                 from /[...]/src/socketcan_interface_plugin.cpp:2:
+/[...]/include/socketcan_interface/socketcan.h: In member function 'virtual bool can::SocketCANInterface::enqueue(const can::Frame&)':
+/[...]/include/socketcan_interface/interface.h:202:96: error: 'cout' is not a member of 'std'
+ #define LOG(log) { boost::mutex::scoped_lock _cout_lock(_cout_wrapper::get_cout_mutex()); std::cout << log << std::endl; }
+                                                                                                ^
+/[...]/include/socketcan_interface/socketcan.h:183:13: note: in expansion of macro 'LOG'
+             LOG("FAILED " << ec);
+             ^
+/[...]/include/socketcan_interface/interface.h:202:96: note: suggested alternative: 'count'
+```
+
+With boost version < 1.65.0, iostream is probably included by the
+boost dependencies in the header files; with boost version >= 1.65.0,
+it is not included anymore and hence leads to this compile error.
+
+The issue was identified by the work on meta-ros, the OpenEmbedded
+layer for ROS [1,2]. It provides a cross-compilation tool chain for
+ROS packages and its current master version already uses boost
+version 1.65.1.
+
+[1] https://github.com/bmwcarit/meta-ros
+[2] https://github.com/bulwahn/meta-ros/pull/8
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+
+Upstream-Status: Accepted [https://github.com/ros-industrial/ros_canopen/commit/3bf9d9726b278b000a829f639af21d423a38798a]
+
+This patch has been generated with:
+  `git format-patch -1 3bf9d9726b278b000a829f639af21d423a38798a`
+in the ros_canopen repository.
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+---
+ socketcan_interface/include/socketcan_interface/interface.h | 1 +
+ 1 file changed, 1 insertion(+)
+
+diff --git a/socketcan_interface/include/socketcan_interface/interface.h b/socketcan_interface/include/socketcan_interface/interface.h
+index f60f308..33378de 100644
+--- a/socketcan_interface/include/socketcan_interface/interface.h
++++ b/socketcan_interface/include/socketcan_interface/interface.h
+@@ -190,6 +190,7 @@ public:
+ 
+ } // namespace can
+ 
++#include <iostream>
+ #include <boost/thread/mutex.hpp>
+ 
+ struct _cout_wrapper{
+-- 
+2.7.4
+
diff --git a/recipes-ros/ros-canopen/socketcan-interface_0.6.8.bb b/recipes-ros/ros-canopen/socketcan-interface_0.6.8.bb
new file mode 100644
index 0000000..94a7a43
--- /dev/null
+++ b/recipes-ros/ros-canopen/socketcan-interface_0.6.8.bb
@@ -0,0 +1,10 @@
+DESCRIPTION = "This package contains a generic CAN interface description with helpers for filtering and driver implementation. Further a socketcan implementation based on boost::asio is included."
+SECTION = "devel"
+LICENSE = "LGPLv3"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=b691248d2f70cdaeeaf13696ada5d47c"
+
+DEPENDS = "boost class-loader virtual/kernel"
+
+require ros-canopen.inc
+
+SRC_URI += "file://0001-explicitly-include-iostream-to-compile-with-boost-1..patch;striplevel=2"