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Have you looked at the technical details of talking to rosbridge_server? From what I see, your app connects to a websocket on the robot, then you send a json message, and get one or more json responses. There are already libraries for c++ to help code both for websockets and for json. This approach should work if rosbridge does the things you need, but you will have to be careful not to subscribe to any high-bandwidth topics.

If it were me, I'd likely create a ros node in python that uses the tornado library to implement a very simple one-page http server. This approach keeps all ros message traffic on the robot, allowing the node to publish and subscribe to whatever it needs to, and not worry about consuming wireless bandwidth. How nice the displayed web page looks would depend entirely on how much effort you want to put into coding it.