Hands-On ROS for Robotics Programming

Setting up a VNC server (x11vnc)

OpenSSH allows us to log in remotely to our Raspberry Pi using a terminal. We will also equip our robot with another remote way of connection, that is, by accessing its desktop. In order to do this, we will use x11vnc, a package that implements a remote desktop using Virtual Network Computing (VNC):

1. Update the Ubuntu repositories and install:

$ sudo apt-get update$ sudo apt-get install x11vnc

2. Now create a password to connect with a client:

$ x11vnc -storepasswd

3. Type in a password and remember it. The password is stored in /home/pi/.vnc assuming that the current user is pi. Then, start the x11vnc server:

$ sudo x11vnc -auth guess -forever -loop -noxdamage -repeat \ -rfbauth /home/pi/.vnc/passwd -rfbport ...