This is a Lua plugin for Wireshark that decodes FRC CAN messages.
The pcap files are produced by a Teensy-based logger, which writes packets with pcap headers but without the "linux cooked capture" headers produced by SocketCAN.
https://github.com/truher/frc-test/tree/main/can-logger
To use it, put the lua file in your Wireshark plugin directory, which for me is:
$HOME/.local/lib/wireshark/plugins
See also Carlos's FRC CAN dissector written in C:
https://github.com/carlosgj/FRC-CAN-Wireshark