Cabana is a tool developed to view raw CAN data. One use for this is creating and editing CAN Dictionaries (DBC files), and the tool provides direct integration with commaai/opendbc (a collection of DBC files), allowing you to load the DBC files direct from source, and save to your fork. In addition, you can load routes from comma connect.
$ ./cabana -h Usage: ./_cabana [options] route Options: -h, --help Displays this help. --demo use a demo route instead of providing your own --qcam load qcamera --ecam load wide road camera --stream read can messages from live streaming --zmq <zmq> the ip address on which to receive zmq messages --data_dir <data_dir> local directory with routes --no-vipc do not output video --dbc <dbc> dbc file to open Arguments: route the drive to replay. find your drives at connect.comma.ai
See openpilot wiki