This is definitely still a WIP but I feel that it’s useful enough at this stage to make it publicly known. I’ve developed a wxWidgets-based tool for analysis of CAN messages and signals. I call it DeCANstructor and it’s available on Github. Please feel free to provide any feedback/feature requests/etc. there. In addition to working with SocketCAN through ros_canopen, it also works with multi-channel and PCIe Kvaser devices through Kvaser’s CANLIB and my company’s kvaser_interface (which outputs the same messages as ros_canopen).