Hi,
Not sure but your server is on Jetson Nano and your client is on AGX Xavier? Please help confirm this.
For running a RTSP sever on Jetson platforms, you can use test-launch. Please refer to steps in Jetson Nano FAQ
Q: Is there any example of running RTSP streaming?
Your source is a IP camera and the pipeline will be like:
"rtspsrc ! rtph264depay ! h264parse ! nvv4l2decoder ! nvv4l2h264enc ! h264parse ! rtph264pay name=pay0 pt=96 "