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The best way to go about troubleshooting this is to see if it works with rosrun or not. You can start by trying:

rosrun canbus_read candump

If that doesn't work, you probably have a problem with your CMakeLists or your ROS_PACKAGE_PATH; make sure you've sourced your devel workspace, and make sure you're calling catkin_package() in your CMakeLists.txt (even if you call it with no arguments).

If it works with rosrun but not from a launch file, we can look for a more subtle root cause; maybe start by locating the binary and try to figure out why rosrun finds it, but roslaunch doesn't.