In R, for mapping ensembl transcript IDs to ensembl gene ID and gene symbol:
1) Install EnsDb.Hsapiens.v86
2) Run following command for a transcript in TP53 gene:
select(EnsDb.Hsapiens.v86, columns = c("ENTREZID","GENEID", "GENENAME"), keytype = "TXID", keys=c("ENST00000617185"))
However, your transcripts are non coding RNAs and belongs to dog (C.fa). They may not have gene IDs mapped (in ensembl). (as mentioned abvoe) in EnsDb.