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You mention rosbridge, any reason you can't use that to interface with your Ubuntu machine? Seems like it would work, judging from its wiki page:

rosbridge allows dynamic socket and web-socket based access to the full capabilities of ROS. A lightweight binding to Javascript for websocket-capable web browsers is included (ros.js), but access from any language supporting sockets and JSON is easy.

Perhaps use the JSON capabilities?

You mention rosbridge, any reason you can't use that to interface with your Ubuntu machine? Seems like it would work, judging from its wiki page:

rosbridge allows dynamic socket and web-socket based access to the full capabilities of ROS. A lightweight binding to Javascript for websocket-capable web browsers is included (ros.js), but access from any language supporting sockets and JSON is easy.

Perhaps use the JSON capabilities?seems like 'any language' will do.

Sort of like what ROSBridge tries to do for a web client

And afaict it isn't limited to web clients.