How to stream both audio and video?

A newbie here!
I am able to stream video through both rtp and udp unicast and multicast using boneCV as per Derrek Molloy’s tutorials.No I wish to stream both video and audio. How can I do that using rtp (other than rtp too)? I think it can be done using ffmpeg, but I’m not which params should I use. I have git Logitech C920 (hardware H264) webcam.
Please help.

Sarkar, Is this Having the Gstreamer plugins?