This is an old revision of the document!
Coming right up.
In meanwhile, please take a look at http://olliw.eu/2017/uavcan-for-hobbyists/
To connect on your UAVCAN bus, you need SLCAN adapter and software to read UAVCAN messages. Pavel K. who is original author of UAVCAN has greated a great software for UAVCAN operations.
Download UAVCAN GUI from here: https://uavcan.org/GUI_Tool/Overview/