#rtp stream-out module is currently not handling muxed streams correcly when it is opening an RTSP server. An attempt to use e.g. MPEG-TS together with RTSP fails, because the RTSP server only sees the ES, and not the muxed TS stream. VLC builds a UDP multicast MPEG-TS stream, but the setup RTSP server thinks it is getting two ES streams.
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The problem is that the rtp access_output module doesn't support the specifying of muxers. It uses rtp muxing by default. Specifying mux=ts is thus invalid syntax. The only way to do MPEG2-TS muxing on a VOD stream is using the VLM instead.
The SDP is not broken because the access_output_rtp doesn't support specifying other muxers.