Hands-On ROS for Robotics Programming

Setting up autostart on boot

We want x11vnc to start automatically when we reboot or power on the Pi. Hence, create a script named x11vnc.service at location /lib/systemd/system/, perform the following:

$ sudo nano /lib/systemd/system/x11vnc.service

While editing, add the following lines:

[Unit]Description=Start x11vnc at startup.After=multi-user.target[Service]Type=simple# If  using a passwordExecStart=/usr/bin/x11vnc -auth guess -forever -loop -noxdamage -repeat -rfbauth /home/pi/.vnc/passwd -rfbport 5900 -shared[Install]WantedBy=multi-user.target

Then, enable and start the newly created service:

$ sudo systemctl daemon-reload$ sudo systemctl enable x11vnc.service$ sudo systemctl start x11vnc.service

To connect with the RealVNC viewer from ...