Can-utils

Installation
Perform following steps to install SocketCAN utilities:


 * git clone https://github.com/linux-can/can-utils.git
 * cd can-utils
 * ./autogen.sh
 * ./configure
 * make
 * make install (with root privileges)

candump
candump let you sniff CAN packets from one or more CAN interfaces with lots of other useful options to filter, redirect messages etc. Here just a small example:

candump vcan0 vcan0 123   [4]  01 AA BB 22 vcan0 123   [4]  01 AA BB 23 vcan0 123   [4]  01 AA BB 24