I have this pipeline working on Xavier with R32.3.1:
"appsrc ! video/x-raw, format=BGR ! queue ! videoconvert ! video/x-raw, format=BGRx ! nvvidconv ! omxh264enc ! video/x-h264, stream-format=byte-stream ! h264parse ! rtph264pay pt=96 config-interval=1 ! udpsink host=192.168.0.106 port=5000
Note that nvv4l2h264enc has problems in this case, and leads to much lower framerate.
This can displayed with:
gst-launch-1.0 udpsrc port=5000 ! application/x-rtp ! queue ! rtph264depay ! h264parse ! nvv4l2decoder ! nvvidconv ! videoconvert ! fpsdisplaysink video-sink=xvimagesink