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I implemented the last webscoket protocol for the handshake function. It works because my socket status is connected :). When I launch run rosbridge node , I have "2 concurrent connection"

I register a handler for a specific topic and subscribe to this topic following from_answer_ros and rosbridge_tutorial

Apparently it works because I dont catch any error but I don't receive message from this topic in my javascript client. Finally, after my main function ended, I get an error in the javascript file (from firebug)

The connection to ws://127.0.0.1:9090/ was interrupted while the page was loading.

this.socket = new WebSocket(url);

And appears in Rosbridge terminal :

closed 9

I can't join my javascript code because my Karma is too low. Let me know if you need it