The examples you should be looking at are for MPEG-TS instead of RTSP. So the command you will want to use looks like this:
Pullstream uri=dmpegtsudp://10.0.0.210:5555 localstreamname=rb
The VLC and Flash playback URI’s you list below are correct.
For inbound TCP streams you will have two options to choose from, and which you use will depend upon the behavior of your stream source.
If your stream source needs someone to connect to it: pullstream uri=dmpegtstcp://IPofSource:Port localstreamname=Something
If your stream source wants to connect somewhere: In config.lua, add a new “acceptor” that looks like the following: