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Rockbox has three UPnP/DLNA modes that can be enabled independently. They combine freely: e.g. expose your library to BubbleUPnP and stream live to Kodi at the same time.

Mode 1 — PCM sink (push to a renderer)

Rockbox encodes live PCM as a continuous WAV-over-HTTP stream and tells a UPnP MediaRenderer to play it via AVTransport SOAP.
Track metadata (title, artist, album, album art, duration) is sent as DIDL-Lite XML in SetAVTransportURI and refreshed on every track change.
Finding upnp_renderer_url: start rockboxd with RUST_LOG=info — it scans the LAN at startup and logs upnp scan: found renderer "<name>" av=http://... for every renderer found.

Mode 2 — Media Server (let others browse your library)

Exposes your music library as a UPnP ContentDirectory. BubbleUPnP, Kodi, VLC, foobar2000 and the like can browse artists / albums / tracks and pull audio directly from Rockbox.

Mode 3 — MediaRenderer (let others push to you)

Rockbox registers as a MediaRenderer:1. Any control point can push a URI and control playback remotely. Incoming DIDL-Lite metadata is parsed and displayed in the UI.

All UPnP keys

Typical setups

Find Kodi’s AVTransport URL with RUST_LOG=info rockboxd, then:
Now BubbleUPnP can pick “Rockbox” as the playback target.