initialize udp listeners only if udp is enabled

main.go

@@ -252,6 +252,7 @@ func newProgram(args []string, stdin io.Reader) (*program, error) {
 		return nil, err
 	}
 
+	if _, ok := conf.protocolsParsed[gortsplib.StreamProtocolUdp]; ok {
 		p.serverRtcp, err = newServerUdp(p, conf.RtcpPort, gortsplib.StreamTypeRtcp)
 		if err != nil {
 			return nil, err
@@ -261,6 +262,7 @@ func newProgram(args []string, stdin io.Reader) (*program, error) {
 		if err != nil {
 			return nil, err
 		}
+	}
 
 	for name, confp := range conf.Paths {
 		if confp.RunOnInit != "" {
@@ -545,8 +547,11 @@ outer:
 	}
 
 	p.serverRtsp.close()
+
+	if _, ok := p.conf.protocolsParsed[gortsplib.StreamProtocolUdp]; ok {
 		p.serverRtcp.close()
 		p.serverRtp.close()
+	}
 
 	for c := range p.clients {
 		c.conn.NetConn().Close()

rtsp-simple-server.yml

@@ -3,9 +3,9 @@
 protocols: [udp, tcp]
 # port of the TCP RTSP listener
 rtspPort: 8554
-# port of the UDP RTP listener
+# port of the UDP RTP listener (used only if udp is in protocols)
 rtpPort: 8000
-# port of the UDP RTCP listener
+# port of the UDP RTCP listener (used only if udp is in protocols)
 rtcpPort: 8001
 
 # timeout of read operations
@@ -13,8 +13,7 @@ readTimeout: 10s
 # timeout of write operations
 writeTimeout: 5s
 
-# supported authentication methods
-# WARNING: both methods are insecure, use RTSP inside a VPN to enforce security.
+# supported authentication methods (both are insecure, use RTSP inside a VPN to enforce security)
 authMethods: [basic, digest]
 
 # command to run when a client connects.