On the computer you wish to act as a server, forward default port 9090 to enable incoming connections through Rosbridge. Port forwarding guides for specific routers can be found at https://portforward.com/router.htm

Download the following files:

https://github.com/CSUN-SERL/Physical-and-Simulation-SARWAI/blob/master/src/Pub_Sub_Server/listener.html

https://github.com/CSUN-SERL/Physical-and-Simulation-SARWAI/blob/master/src/Pub_Sub_Server/talker.html

Open up talker and listener files with the editor of your choice and edit the portion ws://xxx.xxx.xxx.xxx:9090 to the external IP of the server.

open up a terminal and run

roscore

In another terminal, run the command

roslaunch rosbridge_server rosbridge_websocket.launch

Double click and open talker/listener files in browser of your choice. Simple string message should be sent to the server and listener will display the message in your browser's console.