How to integrate CAN/CANOpen actuators in PX4?

Hi Px4 community!

Im trying to integrate an actuator (Ultramotion Linear Actuators) with the PX4 firmware. These actuators require either CAN 2.0 or CANOpen to communicate with, but I’m struggling to understand how to integrate this new actuator into the PX4 firmware. I cant figure out how I can send raw can messages from the CAN port. I am using the Pixhawk 5x board.

If anyone could provide any details or example code that would be very helpful!