For CPU only case, please make sure whether the camera supports V4L2.
This is different case. Please check how to set up camera with Jetson Camera Software Development Solution — Jetson Linux Developer Guide documentation (nvidia.com)
For nvargcamerasrc please refer to Accelerated GStreamer — Jetson Linux Developer Guide documentation (nvidia.com)
For v4l2src, plesae refer to DeepStream SDK FAQ - Intelligent Video Analytics / DeepStream SDK - NVIDIA Developer Forums