Install ros_bridge_suite first:

git clone https://github.com/RobotWebTools/rosbridge_suite.git
sudo pip2.7 install tornado
sudo pip2.7 install bson (fucking rubbish doesnot work alone, need pymongo)
sudo pip2.7 install pymongo
roslaunch rosbridge_server rosbridge_websocket.launch

Even the sensor driver can be locally on PC, does not mean it can run on phone
for phone to connect…

Need to override the check_origin() function in tornado.websocket,
it is a bullshit security function that prevent other source blah blah blah…
which cause other device cannot connect

Goto /usr/local/lib/python2.7/dist-packages/tornado
Find the file websocket.py and override the function check_origin() to always return True