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I had the same error with the same setup.

It's working now with gstreamer1.0 installed and gscam built from source with the -DGSTREAMER_VERSION_1_x=On flag as described here:

https://habr.com/post/415735/

I'm also streaming a hardware-encoded h264 camera similar to this question, where I found the article above:

https://answers.ros.org/question/295407/how-to-broadcast-hardware-encoded-video-from-the-logitech-c920-to-ros/

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