After a whole lot of trial and error, I finally came up with a gstreamer pipeline for the GCS end that will receive the h.264 stream from the rpi2, and simultaneously display the video on my laptop while recording it to a mp4 file.
However, it does produce repeated error messages. .The error is like "(gst-launch-1.0:62412): GStreamer-CRITICAL **: gst_buffer_unmap: assertion 'GST_IS_BUFFER (buffer)' failed"
My testing is on a Windows 10 laptop, with gstreamer 1.6.3 Windows binary.
In spite of the error messages, it continues to display the stream and record it, but if anyone attempts to use this I would recommend to test it thoroughly before flying with it, and please let me know if anyone is able to get rid of the errors.
Change "file.mp4" to the path and name you prefer.
Press Ctrl-C to terminate the pipeline and close the output file.
gst-launch-1.0 -e udpsrc port=5000 caps="application/x-rtp,media=(string)video,clock-rate=(int)90000,encoding-name=(string)H264,payload=(int)96,ssrc=(uint)237526004, clock-base=(uint)1584170994,seqnum-base=(uint)42626" ! tee name=t ! queue ! decodebin ! x264enc ! mp4mux ! filesink location=file.mp4 t. ! queue leaky=1 ! rtph264depay ! decodebin ! autovideosink sync=false