Implementing UAVCAN on stm32g431rb nucleo board

I want to implement UAVCAN on my stm32 nucleoG431rb board, please explain me with steps how can I implement it.
I use cubeMX and IAR to setup and program on the board.

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Abdulrahman, were you able to get an answer to your question? I have a similar situation, I also use the stm32g43 board, but instead of IAR I use –°ubeIDE. If u found anything useful, it would be great if you shared a link or a file, maybe a guide