SDP is mainly used with SIP and SAP. However, it is also used with RTSP. Are you planning to use your Gstreamer pipeline as an RTSP server? If so, then you would need it. I don't know how to handle the signaling if you are using RTP. If you were using the video stream within a SIP connection/conference, then you would have a caps exchange using SDP so that the RTP signaling would just work. I don't know at the moment (anyone please help both of us) how to establish a connection with RTP.
A SDP is simply a text file that describes the media stream, but it does have a specific format. You can google it and probably get tons of examples. H264 video generally uses payload type 96.
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