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I was able to get it running on the melodic version, but it's not a failproof solution, and probably there is an easier one. Anyway, here is my solution:

Clone rosbridge into your workspace (if you want to install later, you should do it on a clean one). Install dependencies with

pip install twister pyopenssl autobahn tornado future bson pymongo

Modify the launch files to use the scripts with the .py extension (eg.: rosbrdige_websocket.launch:59 type="" ).

Verify if its working (catkin_make and than roslaunch), and install the dependencies if I missed some. If it's works fine you can install it with the following command:

catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space c:\opt\ros\melodic\x64

Because python2 is not supported, it might be easier to do it on the noetic distro, but that not works for me right now, so I cannot verify it.