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The easiest way to develop using the Websocket API is to use roslibpy. Here is an example that will listen to the robot’s odometry:
odometry_stream.py
#!/usr/bin/env python
import roslibpy

client = roslibpy.Ros(host='192.168.3.42', port=9090)
client.run()

def callback(msg):
    position = msg['pose']['pose']['position']
    print(f"Received Pose: x={position['x']}, y={position['y']}")

listener = roslibpy.Topic(client, '/odometry/filtered', 'nav_msgs/Odometry')
listener.subscribe(callback)

try:
    while True:
        pass
except KeyboardInterrupt:
    client.terminate()
A similar library can be created in C or C++ that follows the same Websocket protocol.