Jetson Nano - any easy way to relay rtsp stream?

We have a camera connected to Jetson Nano Eth port and can send rtsp stream to Nano. Is there an easy way, eg. use gstreamer, to relay the rtsp stream so we can view it from host PC?

You can try test-launch. Please refer to
Jetson Nano FAQ
[Q: Is there any example of running RTSP streaming?]

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