Hi Toure, we don't have an out of box demo for H.264+RTP for TCI6638. However, we have the the C66x H.264 codec (http://software-dl.ti.com/dsps/dsps_public_sw/codecs/C6678/index.html) and inside our MCSDK video (for shannon devices) you can find the RFC components (<mcsdk_video>\dsp\components\ti\mas\rfcs) in case you want to use them.
Thank you,
Paula