This is a relatively simple Python script that implements most the good work of the people in this thread. It's missing a few bytes that I don't care so much about like fuel consumption and wheel rotation.
For my porpoises
Tested only in 2.7, although canard is known to work in both Python 2 and 3
pip install pyserial python-can canard
If you're taking this for a spin, simply comment out the LOGGING_ADDRESS and make sure /dev/ttyACM0 is your attached CAN interface.