can-utils software package provides SocketCAN userspace utilities and tools, you can install in your Ubuntu 16.04 LTS (Xenial Xerus) by running the commands given below on the terminal,
$ sudo apt-get update $ sudo apt-get install can-utils
can-utils is installed in your system.
Make ensure the can-utils package were installed using the commands given below,
$ sudo dpkg-query -l | grep can-utils *
You will get with can-utils package name, version, architecture and description in a table
| Distro | Ubuntu 16 04 lts xenial xerus |
| Section | Network |
| Package | can-utils |
| Version | 0.0+git20150902-1 |
| Description | SocketCAN userspace utilities and tools |
| Sub Section | Net |