Send and receive TWAI (CAN) messages in with an esp32 with a TWAI controller. Functionally to convert messages to NMEA2000 is available.
An ESP32-WROOM-32E sailor hat board was used for this project. This should work for any esp32 board with a TWAI (Two Wire Automobile Interface) controller.
This is an ESP-IDF project. Follow this guide to install ESP_IDF.