If you are keen on using DroneCAN, perhaps PyDroneCAN is what you need: Pydronecan - DroneCAN
This forum is about Cyphal, not DroneCAN, so it is unlikely that you will get further help here. The differences between the two are outlined here: Cyphal vs. DroneCAN
If you are working on a green-field design without the burden of compatibility with COTS DroneCAN equipment, I would personally recommend against using DroneCAN.