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I also have this problem. Running Ubuntu 16.04 and Kinetic.

Just running:

#! /usr/bin/env python

import rospy

if __name__ == '__main__':
    rospy.init_node('connection_failed_debug', anonymous=True)

I also have this problem. Running Ubuntu 16.04 and Kinetic.

Just running:

#! /usr/bin/env python

import rospy

if __name__ == '__main__':
    rospy.init_node('connection_failed_debug', anonymous=True)
    rospy.spin()

will give me the message:

[WARN] [WallTime: 1473173287.273779] Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[WARN] [WallTime: 1473173295.881939] Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.

This is probably only on a loaded machine...