GStreamer is a framework for creating multimedia streaming applications available in multiple platforms including Windows, iOS, Android, and Linux. Extensive documentation is available online. GStreamer is installed in the Jetson Nano by default, but in order to stream using rtsp, you either need to write your own application, or use gst-rtsp-server. gst-rtsp-server requires the gtk-doc-tools package to be installed.
In order to use gst-rtsp-server, you need to clone the repository, checkout the version of gst-rtsp-server suitable for your GStreamer version, and the build the application. Start by creating a working directory.
The version of GStreamer we have is 1.14.5, so checkout the corresponding git branch.