Look at Kinsky. But, to use it, you will need a server package like BubbleUPnP Server that supports OpenHome.
Loved using the combination of MinimServer and BubbleUPnP with Kinsky as my app.
However, the BDP's implementation of a DLNA renderer is based on gmedia_render, which is not good (many issues that I won't bother repeating on Audio Circle).