Hi,
You can launch the server by running test-launch. Please refer to
Problems minimizing latency and maximizing quality for rtsp and mpeg-ts. - #8 by DaneLLL
and replace nvcamerasrc with nvarguscamerasrc, omxh264enc with nvv4l2h264enc
For receiving RTSP stream on OpenCV, please check
Doesn't work nvv4l2decoder for decoding RTSP in gstreamer + opencv - #3 by DaneLLL