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I use freeswitch as sip server also use pem from freeswitch folder (/usr/local/freeswitch/certs) .

On client part i use SIP.js client looks like :

<script src="https://rawgit.com/onsip/SIP.js/0.8.0/dist/sip-0.8.0.js"></script>

<!--script src="sip-0.12.0.js"></script-->

<video id="remoteVideo"></video>

<video id="localVideo" muted="muted"></video>

<script>

    var userAgent = new SIP.UA({

      uri: '1002@192.168.0.100',

      wsServers: ['wss://192.168.0.100:7443'],

      authorizationUser: '1002',

      password: '1234',

    });



    userAgent.on("connected", function() {

        console.log("Connected $$$$$$$$$$$$$$$$$$$$$$$$");

    });



    userAgent.on('invite', function (session) {

        session.accept({

            media: {

                render: {

                    remote: {

                        video: document.getElementById('remoteVideo')

                    },

                    local: {

                        video: document.getElementById('localVideo')

                    }

                }

            }

        });

    });

</script>

Error log in browser (chrome) :

sip-0.8.0.js:11540 WebSocket connection to 'wss://192.168.0.100:7443/' failed: Error in connection establishment: net::ERR_CERT_AUTHORITY_INVALID

connect @ sip-0.8.0.js:11540

Transport @ sip-0.8.0.js:11428

(anonymous) @ sip-0.8.0.js:7798

sip-0.8.0.js:746 Thu Jan 03 2019 11:10:42 GMT+0100 (Central European Standard Time) | sip.transport | WebSocket connection error: 

LoggerFactory.print @ sip-0.8.0.js:746

LoggerFactory.(anonymous function) @ sip-0.8.0.js:763

Logger.(anonymous function) @ sip-0.8.0.js:757

onError @ sip-0.8.0.js:11725

ws.onerror @ sip-0.8.0.js:11565

error (async)

connect @ sip-0.8.0.js:11564

Transport @ sip-0.8.0.js:11428

(anonymous) @ sip-0.8.0.js:7798

setTimeout (async)

Timers.(anonymous function) @ sip-0.8.0.js:1446

UA.recoverTransport @ sip-0.8.0.js:7795

UA.onTransportError @ sip-0.8.0.js:7452

onClose @ sip-0.8.0.js:11633

ws.onclose @ sip-0.8.0.js:11552

sip-0.8.0.js:746 Event {isTrusted: true, type: "error", target: WebSocket, currentTarget: WebSocket, eventPhase: 2, …}

LoggerFactory.print @ sip-0.8.0.js:746

LoggerFactory.(anonymous function) @ sip-0.8.0.js:763

Logger.(anonymous function) @ sip-0.8.0.js:757

onError @ sip-0.8.0.js:11726

ws.onerror @ sip-0.8.0.js:11565

error (async)

connect @ sip-0.8.0.js:11564

Transport @ sip-0.8.0.js:11428

(anonymous) @ sip-0.8.0.js:7798

setTimeout (async)

Timers.(anonymous function) @ sip-0.8.0.js:1446

UA.recoverTransport @ sip-0.8.0.js:7795

UA.onTransportError @ sip-0.8.0.js:7452

onClose @ sip-0.8.0.js:11633

ws.onclose @ sip-0.8.0.js:11552

sip-0.8.0.js:746 Thu Jan 03 2019 11:10:42 GMT+0100 (Central European Standard Time) | sip.transport | WebSocket disconnected (code: 1006)

sip-0.8.0.js:746 Thu Jan 03 2019 11:10:42 GMT+0100 (Central European Standard Time) | sip.transport | WebSocket abrupt disconnection

LoggerFactory.print @ sip-0.8.0.js:746

LoggerFactory.(anonymous function) @ sip-0.8.0.js:763

Logger.(anonymous function) @ sip-0.8.0.js:757

onClose @ sip-0.8.0.js:11614

ws.onclose @ sip-0.8.0.js:11552

sip-0.8.0.js:746 Thu Jan 03 2019 11:10:42 GMT+0100 (Central European Standard Time) | sip.ua | transport wss://192.168.0.100:7443 failed | connection state set to 2

sip-0.8.0.js:746 Thu Jan 03 2019 11:10:42 GMT+0100 (Central European Standard Time) | sip.ua | time for next connection attempt exceeds connectionRecoveryMaxInterval, resetting counter

sip-0.8.0.js:746 Thu Jan 03 2019 11:10:42 GMT+0100 (Central European Standard Time) | sip.ua | next connection attempt in 2 seconds

sip-0.8.0.js:746 Thu Jan 03 2019 11:10:44 GMT+0100 (Central European Standard Time) | sip.transport | connecting to WebSocket wss://192.168.0.100:7443

Log on freeswitch server running in localhost env :

tport.c:2753 tport_wakeup_pri() tport_wakeup_pri(0x7f8780e28b20): events IN

tport.c:862 tport_alloc_secondary() tport_alloc_secondary(0x7f8780e28b20): new secondary tport 0x7f878193c200

tport.c:2294 tport_set_secondary_timer() tport(0x7f878193c200): set timer at 4998 ms because keepalive

tport.c:2644 tport_accept() tport_accept(0x7f878193c200): new connection from wss/192.168.0.100:56317/sips

tport.c:2777 tport_wakeup() tport_wakeup(0x7f878193c200): events IN

tport.c:2868 tport_recv_event() tport_recv_event(0x7f878193c200)

tport_type_ws.c:232 tport_recv_stream_ws() tport_recv_stream_ws(0x7f878193c200): su_getmsgsize(): Host is down (64) N=-1

tport.c:2159 tport_shutdown0() tport_shutdown0(0x7f878193c200, 2)

tport.c:2092 tport_close() tport_close(0x7f878193c200): wss/192.168.0.100:56317/sips

tport.c:2265 tport_set_secondary_timer() tport(0x7f878193c200): set timer at 0 ms because zap

tport_type_ws.c:531 tport_ws_deinit_secondary() 0x7f878193c200 destroy wss transport 0x7f878193c3f0.

The error clearly shows it is certificate issue

sip-0.8.0.js:11540 WebSocket connection to 'wss://192.168.0.100:7443/' failed: >Error in connection establishment: net::ERR_CERT_AUTHORITY_INVALID

I use freeswitch as sip server also use pem from freeswitch folder
(/usr/local/freeswitch/certs)

The certificate provided by Freeswitch is a self-signed certificate and not generated for your server address 192.168.0.100.
You can try generating one using openssl,

openssl req -x509 -newkey rsa:4096 -sha256 -days 3650 -nodes -keyout 192.168.0.100.key -out 192.168.0.100.crt -extensions san -config <(echo "[req]"; echo distinguished_name=req; echo "[san]"; echo subjectAltName=DNS:192.168.0.100,IP:192.168.0.100) -subj /CN=192.168.0.100

make your wss.pem using
https://freeswitch.org/confluence/display/FREESWITCH/WebRTC#WebRTC-InstallCertificates

If you get certifying authority error, with a self-signed certificate for webrtc on a browser like Chrome, better to generate a valid SSL certificate with a domain name and use it.

Regards!