とりあえず動いたバージョン

受信側

画像改良版

gst-launch-1.0 udpsrc port=1234 caps="application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264" ! rtph264depay ! avdec_h264 ! autovideosink sync=false & gst-launch-1.0 udpsrc port=1235 caps="application/x-rtp" ! queue ! "application/x-rtp,media=(string)audio, clock-rate=(int)48000, width=16, height=16, encoding-name=(string)L16, encoding-params=(string)1, channels=(int)1, payload=(int)96" ! rtpL16depay ! audioconvert ! volume volume=3 !autoaudiosink

送信側

gst-launch-1.0 v4l2src norm=PAL ! videoconvert ! omxh264enc ! rtph264pay pt=96 config-interval=1 ! udpsink host=192.168.1.1 port=1234 & gst-launch-1.0 -v alsasrc device=plughw:0,0 ! mulawenc ! rtppcmupay ! udpsink host=192.168.1.1 port=1235

画像改良版

gst-launch-1.0 v4l2src norm=PAL ! videoconvert ! omxh264enc ! video/x-h264, target-bitrate=80000000, control-rate=variable ! rtph264pay pt=96 config-interval=1 ! udpsink host=192.168.1.1 port=1234 & gst-launch-1.0 -v alsasrc device=plughw:0,0 ! audioconvert ! audio/x-raw,channels=1,depth=16,width=16,rate=48000 ! rtpL16pay ! udpsink host=192.168.1.1 port=1235