I followed below sources and succeeded in setting up canbus on xavier.
Rest of my hardware system works on clock frequency 8Mhz. But xavier is working on 50Mhz.
How can I modify xavier frequency? (Below is CAN statistics)
Why I need to modify? Because When I try to write canmsg through xavier, It gets disconnected with CANBUS network after sending some msgs. Anyways reading works fine.
Just for reference (Working PCAN output on another computer)