Teensy 3.6+Arduino ide software+OBD II

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Hello everyone,
I want to get vehicle canbus data such as engine rpm,throttle position,temp etc.., by using teensy 3.6 board coding by arduino ide software(teensyduino) and obdII cable to connect car and after getting the data i need yo publish to raspberry pi 4 through ros system...so, how i proceed with my project and what all the components need to buy..any suggestion?
Connections to be:
OBD II connects with teensy 3.6 and teensy 3.6 connects to pc

Thanks in advance!
 
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