To install the driver you must build the kernel module

It can be found in

Networking Support ->
 CAN bus subsystem support ->
  CAN Device Drivers ->
   CAN USB interfaces ->
     < > 8 devices USB2CAN interface

lsusb

Bus 001 Device 015: ID 0483:1234 STMicroelectronics USB2CAN converter

dmesg

CAN device driver interface
can0: firmware: 1.5, hardware: 1.0
usbcore: registered new interface driver usb_8dev

modprobe usb_8dev
ip link set can0 up type can bitrate 250000
ip link set can0 txqueuelen 1024
ip -s -d link show can0

There is no termination resistor in the USB2CAN and one can be placed within a plug housing.

apt install can-utils

Host 1

candump can0

Host 2

cansend can0 123#DEADBEEF
cangen can0

5 4 3 2 1
 9 8 7 6

2 CAN L
3 GND
6 GND
7 CAN H

Product page

User manual

Datasheet

Schematic