please check
https://www.digi.com/resources/documentation/digidocs/embedded/dey/2.6/cc6ul/bsp_r_can_6ul
CAN2 is disabled by default. YOu'd have to enable it by modifying device tree and rebuilding your images.
Package manager assumes the existence of public repository for i.mx6ul which are not. You can add packages at build time and they will end up in your rootfs.