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It looks like the camera use an RJ 45 Plug to transfer the signal and power to the AV and power plug connectors. All you have to figure out is which pin goes where.
Power uses 2 pins, Video uses 2 pins and Audio Uses 2 Pins.
So you can get a network cable with an RJ45 connector at the end and connect the AV and power plugs on the other end. I just dont know which pins are witch.
Scroll down to the 3.5mm Stereo Jack / RCA Plug x 2 Y-Cable
Converts your TRS connectors to dual RCA plugs. You said you have 3 TRS connectors. Does the TV have 3 sets of RCA plugs you can use with this? If not, you may not be able to get full surround sound, just stereo sound, from your TV - and you'll need some RCA splitters to plug two (or three) cables into one port. I know you can get those at Radio Shack.
Your connection between the AR transmitter and the ONKYO receiver sounds solid. I'd guess it's the wireless speakers that are the wrong point, or at least that's what I'd look at first.
Doing a bit of research, I noticed a couple minor points.
First, these seem prone to RF interference from other RF devices. Have to tried switching channels on them?
Second, someone reported theirs would not work properly unless the speakers were turned on just before the transmitter, and turned off shortly after the transmitter. Apparently you have to hold the button on the front in for 5 seconds to turn the speakers on or off.
I know that's rather basic, but it's been a few days and no one else has responded, so I figured we should start somewhere.