Hey Luis, unless @Zarkopafilis has something in mind for you to help him with, may I suggest you to contribute to PyUAVCAN instead? I am currently at the point where I need the media drivers for SLCAN, SocketCAN, and Python-CAN implemented. The new library has nothing in common with the old one (it actually has an architecture, for example) so the old drivers can’t be directly reused. If you have experience with asynchronous network programming, we could also use help with the socket driver for the UDP transport. I think at this point the architecture of the transport layer seems more or less solid so it should be safe to proceed with transport-specific implementations.