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Is there a possibility to monitor the UDS messages sent over the CAN bus?

I saw that wireshark supports UDS filters so I thought if there is a possibility that you can also monitor UDS messages (Unified Diagnostic Service).

I found something on github but it seemed to be obsolete: https://github.com/tobras/wireshark_doip

If someone has a good solution for that problem I would be deeply thankful.

Cheers!