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As the author of rosbridge, my bias goes without saying. Still, it is meant for exactly your situation. Here's a quick example of sending a simple UInt8 status message from C: status.c. This simple client ignores any feedback from the server what-so-ever. My recommended approach would be for the WRT to open and close a fresh connection each status update. That way it doesn't have to handle long-standing connections. With this approach, the very first status update might be lost (because establishing a fresh topic can take longer than the publish request), but everything should work smoothly once the /wrtStatus (or whatever you use) is established.