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I am not yet familiar with "ros_bundle.min.js". However, I can answer this issue using "ros.js", found under "rosbridge_clients" in the release version of rosbridge_suite. Using this ros.js, I used the following example page to control both turtlebots and AR.Drones:

In this case, the connection is created as follows:

var con = new Bridge("ws://localhost:9090");

Addressing point 1, publishing command velocity for moving forward is done as follows:

con.publish('/cmd_vel', {"linear":{"x":1.0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}});

In Chrome, you should be able to inspect the actual websocket frame that is sent using the development tools (regardless of which ros.js you are using). I found this description of inspecting websocket traffic useful:

I haven't tried subscribing to pose yet, so I will pass on speculating about the second issue.