Video and audio with gstreamer or lib+gstreamer

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I need to read streams of cams and want to use c++. And i have a pipeline it works when use OpenCV, but without audio.

pipeline="rtspsrc protocols=tcp location=" + urlStream_ + " latency=300 ! decodebin3 ! videorate ! videoconvert ! video/x-raw,framerate=30/1,format=(string)BGR ! appsink drop=1"

I'm new to gstreamer and I can't find a correct way to read audio and video in the tutorials. I'm on https://gstreamer.freedesktop.org/ but I still haven't found something that makes it work. Can someone help me?
I'm sorry the english.
any answer would welcome!

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