Hi @Sumit Sharma,
you can use replace text processor to extract and replace text as per your requirement.
Change the search value property to:-
(.+?)\s+:INFO.*Receiver Node\s+(\[.*\])\s+(?=,).*Sender Node\s+(\[.*\])\s+(?=,).*Message\s+(\[.*\])$
Change Replacement Value property to:-
Date: $1 ,sender: $3,Receve: $2, Message: $4
ReplaceText processor Configs:-

Input :-
[16 Aug 2017 12:13:50,665] :INFO :UDPListener : UDP Listener ::: Receiver Node [ 0.0.0.0/3333 ] , Sender Node [ 20f:feb:1:0:0:0:0:10e ] , Message [ <30>Aug 16 12:13:50 as-pp-aa[1761]: %DAEMON-6-SNMP_TRAP_LINK_UP: ifIndex 669, ifAdminStatus up(1)]
Output:-
Date: [16 Aug 2017 12:13:50,665] ,sender: [ 20f:feb:1:0:0:0:0:10e ],Receve: [ 0.0.0.0/3333 ], Message: [ <30>Aug 16 12:13:50 as-pp-aa[1761]: %DAEMON-6-SNMP_TRAP_LINK_UP: ifIndex 669, ifAdminStatus up(1)]
So this processor works dynamically according to the ff and replaces the content with your specifications.