We have a writeup on our site of what parts we use, links to suppliers, and instructions on making the cables:
http://team2168.org/index.php/resour...10-can-jaguars
Note that the CAN landscape is changing in the upcoming season. You will no longer need to communicate to the bus through a serial connection. External terminating resistors may not be required depending on how you're wiring components.
So the consise disclaimer is: The above link will work fine for use with the cRIO, I would personally make changes for the 2015 season, but I don't have something put together to share yet.