Raspi v2 camera is not working with v4l2src on Jetson nano

Environment :- Raspi v2 camera, Jetson nano board, Ubuntu 18.04 I started with nvarguscamerasrc and it’s working :-

gst-launch-1.0 nvarguscamerasrc sensor_mode=0 ! 'video/x-raw(memory:NVMM),width=3820, height=2464, framerate=21/1, format=NV12'! nvegltransform ! nveglglessink -e

and then I tried running these inputs :-

gst-launch-1.0 v4l2src device=/dev/video0 ! 'video/x-h264, width=3280, height=2464' ! filesink location=out.mp4

and also :-

gst-launch-1.0 v4l2src device=/dev/video0 ! 'video/x-raw, width=640, height=480' ! filesink location=out.raw

and got output as :-

Setting pipeline to PAUSED ...
Pipeline is live and does not need PREROLL ...
ERROR: from element /GstPipeline:pipeline0/GstV4l2Src:v4l2src0: Internal data stream error.
Additional debug info:
gstbasesrc.c(3055): gst_base_src_loop (): /GstPipeline:pipeline0/GstV4l2Src:v4l2src0:
streaming stopped, reason not-negotiated (-4)
ERROR: pipeline doesn't want to preroll.
Setting pipeline to PAUSED ...
Setting pipeline to READY ...

I need RGB output for my project is there any way to get it instead of using videoconvert for it.

Here is the supported format of Pi camera V2:

$ v4l2-ctl --list-formats
        Index       : 0
        Type        : Video Capture
        Pixel Format: 'RG10'
        Name        : 10-bit Bayer RGRG/GBGB

Since it does not support BGR, you would need to capture RG10 bayer data and do debayering. This may give worse performance.

And here are supported bayer formats in v4l2src:

                 format: { (string)bggr, (string)gbrg, (string)grbg, (string)rggb }
                  width: [ 1, 32768 ]
                 height: [ 1, 32768 ]
              framerate: [ 0/1, 2147483647/1 ]

rgrg and gbgb are not supported.