One point may be to have the nvcamera socket created.
Using this as /etc/rc.local seems ok:
#!/bin/sh -e
#
# rc.local
#
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
#
LOGFILE=/home/nvidia/Desktop/rclocal.log
/bin/rm -f $LOGFILE
(while [ ! -S /tmp/nvcamera_socket ]; do cat /proc/uptime | cut -d '.' -f1 >> $LOGFILE; sleep 1; done; sleep 1;
/usr/bin/gst-launch-1.0 nvcamerasrc sensor-id=0 fpsRange="30.0 30.0" ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)I420, framerate=(fraction)30/1' ! nvvidconv ! 'video/x-raw, format=(string)I420, framerate=(fraction)30/1' ! tee ! v4l2sink device=/dev/video10 >> $LOGFILE) &
exit 0
Usually it is created when uptime is about 10s (when /etc/rc.local starts about 7-8s uptime).