$ sudo firewall-cmd --direct --add-rule ipv4 filter INPUT 0 -m state --state NEW -m udp -p udp --sport 5002 -j ACCEPT
success
$ sudo firewall-cmd --direct --add-rule ipv4 filter INPUT 0 -m state --state NEW -m udp -p udp --sport 5004 -j ACCEPT
success
$ sudo firewall-cmd --direct --add-rule ipv4 filter INPUT 0 -m state --state NEW -m udp -p udp --sport 65001 -j ACCEPT
success
$ sudo firewall-cmd --reload

No