Ubuntu (and probably most other distributions) have all the tools that you'll need:
Mplayer and
Lame. Use the former to capture the stream into a RM (=Real Media) file:
mplayer "rtsp://server.example.com:554/sometrack.rm" -dumpstream -dumpfile "captured.rm"
Now convert the Real Media file to a WAV:
mplayer -ao pcm:waveheader:file="captured.wav" "captured.rm" -vo null -vc dummy
And finally convert the WAV into an MP3:
lame -h "captured.wav" "captured.mp3"
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