How to parse the dump file of SHM rtps_dump_file?

[fenggaobj]

By configuring the rtps_dump_file for SHM, the data stream of SHM can be written to a file in hexadecimal format. For example, the configuration is as follows:

auto shm_transport = std::make_shared<SharedMemTransportDescriptor>();
shm_transport->segment_size(2 * 1024 * 1024);
shm_transport->rtps_dump_file("shm_dump_pub.log");

According to the code's logic, it should generate a data format similar to the IP/UDP/RTPS hierarchy. What tool can be used to parse the generated file?
I've tried directly opening the file with Wireshark and also importing it through Wireshark's "Import from Hex Dump File" option, but neither method can correctly parse the file.
May I ask how to parse this file? Are there any relevant introduction materials?
Thank you all very much.

[fenggaobj]

https://fast-dds.docs.eprosima.com/en/v2.8.2/fastdds/transport/shared_memory/shared_memory.html#sharedmemtransportdescriptor