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These two observations are only partly related.

One; The use of ping shows you that basic IP networking between the nodes is possible. When sending out ICMP echo packets you get a reply, so that's good.

Two; Then you send out a UDP packet. This packet is used to transport a datagram over IP to the destination node at a specific UDP port. This succeeds iff there's a proces at the destination node which has opened that UDP port. Otherwise the network stack at the destination node wants to inform you that the destination is unreachable, because the (UDP) port is unreachable (or rather, it's closed). That is what that ICMP packet is for.

Note: I think you'll see the proper ordering is UDP packet first, and in response you'll see the ICMP packet

As for the question on what you should do to read the contents of the packets, you're already doing that. You're capturing these packets and they're dissected right there. To see all the details open up the details in the packet details pane, or, if using TShark, add the -V flag to get verbose output.