I am not able to connect to my Whitelisted Chromecast through the given address (ip.address:9222) as mentioned here: https://developers.google.com/cast/developing_your_receiver#
For me it was a combination of checking "Send this Chromecast's serial number to Google when checking for updates" and registering the Chromecast Device, as described here: https://developers.google.com/cast/docs/registration
After registering your device, you'll have to wait up to 15 minutes and restart your Chromecast. You'll see this if the status of the device changed in to "Ready for Testing."