Error in RTSP Audio capturing through gstreamer

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Error in RTSP Audio capturing through gstreamer

I am trying to capture audio and video rtsp stream from gstreamer through
Jetson Nano. I am able to capture the video but when trying to capture audio
I get the below error.

Missing element: MPEG4-GENERIC audio RTP depayloader WARNING: from element
/GstPlayBin:playbin0/GstURIDecodeBin:uridecodebin0: No decoder available for
type 'application/x-rtp, media=(string)audio, payload=(int)96,
clock-rate=(int)48000, encoding-name=(string)MPEG4-GENERIC,
streamtype=(string)5, profile-level-id=(string)1, mode=(string)aac-hbr,
sizelength=(string)13, indexlength=(string)3, indexdeltalength=(string)3,
config=(string)1188, a-tool=(string)"LIVE555\ Streaming\ Media\
v2016.01.29", a-type=(string)broadcast, x-qt-text-nam=(string)"KMStreaming\
Server", x-qt-text-inf=(string)ch01, clock-base=(uint)3130203504,
seqnum-base=(uint)34845, npt-start=(guint64)0, play-speed=(double)1,
play-scale=(double)1, ssrc=(uint)3216157947'. Additional debug info:
gsturidecodebin.c(921): unknown_type_cb ():

How can I resolve this error?

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