in current yocto, you don't need to install it, you can use udpsrc or udpsink directly.
for example:
The following command line is an example of how to record and transfer web camera input.
$GSTL imxv4l2src device=/dev/video1 ! vpuenc_h264 ! rtph264pay ! udpsink host=$HOST_IP
HOST_IP is the IP/multicast group to send the packets to.
This command line is an example of how to receive and display web camera input.
$GSTL udpsrc ! application/x-rtp ! rtph264depay ! vpudec ! imxv4l2sink