diff --git a/rosbridge_library/src/rosbridge_library/protocol.py b/rosbridge_library/src/rosbridge_library/protocol.py
index 9d91076c9..e18e54eb2 100644
--- a/rosbridge_library/src/rosbridge_library/protocol.py
+++ b/rosbridge_library/src/rosbridge_library/protocol.py
@@ -116,10 +116,9 @@ def incoming(self, message_string=""):
         message_string -- the wire-level message sent by the client
 
         """
-        if len(self.buffer) > 0:
-            self.buffer = self.buffer + message_string
-        else:
-            self.buffer = message_string
+        self.buffer = self.old_buffer + message_string
+        if self.buffer == self.old_buffer:
+            return
         msg = None
 
         # take care of having multiple JSON-objects in receiving buffer
@@ -217,13 +216,13 @@ def incoming(self, message_string=""):
         except Exception as exc:
             self.log("error", f"{op}: {str(exc)}", mid)
 
-        # if anything left in buffer .. re-call self.incoming
-        # TODO: check what happens if we have "garbage" on tcp-stack --> infinite loop might be triggered! .. might get out of it when next valid JSON arrives since only data after last 'valid' closing bracket is kept
-        if len(self.buffer) > 0:
-            # try to avoid infinite loop..
-            if self.old_buffer != self.buffer:
+        try:
+            if len(self.buffer) > 0:
                 self.old_buffer = self.buffer
+                self.buffer = ""
                 self.incoming()
+        except Exception as exc:
+            self.log("error", f"{self.client_id}: {str(exc)}")
 
     def outgoing(self, message, compression="none"):
         """Pass an outgoing message to the client.  This method should be