Stream MKV file using H264 compression and RTP

It might be better to run a RTSP server on Jetson Nano as on-demand service. Please check steps in
Jetson Nano FAQ
[Q: Is there any example of running RTSP streaming?]

On Jetson Nano you can run:

$ ./test-launch "filesrc location=jellyfish-5-mbps-hd-h264.mkv ! matroskademux ! h264parse config-interval=-1 ! rtph264pay name=pay0 pt=96"

On another device, you can use VLC player or run a gstreamer command to open the link.