E.g., Arduino Uno (ATmega328P), STM32, or PIC, which has a built-in CAN controller (or you'll need an external CAN controller like MCP2515 1.2.4).
To see if your nodes are communicating, attach a Virtual Terminal to the TX and RX lines of your microcontrollers. This allows you to monitor data packets in real-time. mcp2551 library proteus