What do you mean the ID number? Any device on a CAN bus can send out any arbitration ID, and most often devices send out multiple IDs. Then there are times that IDs will be reserved for direct communication to a device using diagnostics and the device won't transmit periodically but instead wait for a request for some action.
What I'm getting at is it is more complicated than that. If you just want to know what things a device sends out, have it be on the only device on the bus and just read the raw frames. Alternatively the DBC for the bus should say what ECUs are responsible for what IDs.