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I am thinking to forward my localhost ports [..]

are you referring to NAT here, or some other way of 'forwarding'?

In any case: yes, you'll have to somehow open those ports on a routable IP. Whether that is done directly (ie: by giving your ROS machine a routable IP or by running the rosbridge nodes on a machine with a routable IP) or indirectly (ie: by using port forwarding in case of a NAT) should make no difference.

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