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It seems that rosbridge_server is what you are looking for. http://wiki.ros.org/rosbridge_server

Rosbridge server is part of the rosbridge_suite of packages, providing a WebSocket transport layer. A WebSocket is a low-latency, bidirectional communication layer between clients (web browsers) and servers. By providing a WebSocket connection, rosbridge server allows webpages to talk ROS using the rosbridge protocol.

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