Does live555 support streaming content, in which the UDP payload
contains just plain MPEG2-TS, without any RTP wrapper ?

Yes.

 Looking into
the testing programs that come with live555, most of them expect
MPEG2-TS over RTP. I guess this is the reason, why I'm not able to
play these streams in mplayer [ linked with live555 library ], which
also tries to guess RTP from the stream, and eventually crashes in its
demux module.

Try VLC instead.  It might do a better job of recognizing such streams.
--

Ross Finlayson
Live Networks, Inc.
http://www.live555.com/
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