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When you are launching rosbridge, you are launching a WebSocket server. However, in your question, you mention you are using a TCP client library. These are not the same thing and then rosbridge will not accept the TCP connection (WebSockets are an extension of HTTP). Instead, try using the TCP server version of rosbridge (https://github.com/RobotWebTools/rosbridge_suite/blob/groovy-devel/rosbridge_server/scripts/rosbridge_tcp.py).

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