>> I have tested Live555 to both broadcast and receive audio and video on the iPhone. I do not recommend using it if you are going to be streaming AV in and out of the phone. It is not meant for this

That's not true. There's no inherent reason why our library can't be used to receive/play RTSP audio+video streams. In fact, several clients out there already do this.
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I tried for some time to get this working properly. It worked wonderfully for streaming AVC/AAC out of the iPhone. For an incoming stream my decoder data queue was starved if I had outgoing data. Apparently it was how I was using the library. Maybe I should revisit that code. In any case the library is very good. I would have preferred to use it.

To handle incoming data, you should implement a "jitter buffer", to allow for network 'jitter' (variability in the delay of incoming packets), and also possible packet loss. You should also take into account the "presentation time" of each incoming piece of data (to decide when to decode/play it). (Also note <http://www.live555.com/liveMedia/faq.html#rtcp-synchronization-issue>)
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Ross Finlayson
Live Networks, Inc.
http://www.live555.com/
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