Rosbridge 2.0 with raw sockets

edit

Jon Mace and I had several discussions about whether to include raw sockets along with websockets for v2. Jon had convincing arguments to just stick with websockets for now:

1. rosbridge v1 tried to detect when an incoming connection was a raw socket or a websocket, causing additional (unnecessary) complexity for the server. The v2 design assumes a rosbridge port can be open with either form of socket, but not both.
2. rosbridge_library (in v2) can be wrapped to use a raw socket. The default v2 server essentially wraps around this library
3. Jon posited that creating a raw socket version of rosbridge v2 would be "trivial". We would welcome addition of a raw socket version of the v2 server to the stack

Although this response is a bit late, I hope it is helpful.