1

安裝x11vnc

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

2

生成密碼

$ x11vnc -storepasswd

3

開啟服務

$ x11vnc -auth guess -once -loop -noxdamage -repeat - rfbauth /home/robomaster/.vnc/passwd -rfbport 5900 -shared

4

設為開機啟動

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

插入以下程式碼

[Unit]
 

Description=Start x11vnc at startup.
After=multi-user.target

[Service]
Type=simple
ExecStart=/usr/bin/x11vnc -auth guess -once -loop -noxdamage -repeat -rfbauth /home/USERNAME/.vnc/passwd -rfbport 5900 -shared

[Install]
WantedBy=multi-user.target

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

注意在這之前不要嘗試更老版本的VNCServer否則我出現莫名其妙的錯誤，然後日常重灌Ubuntu

5

連線時出現錯誤
Unable to connect to VNC Server using your chosen security
setting. Either upgrade VNC Server to a more recent version from
RealVNC, or select a weaker level of encryption.
在伺服器端使用

gsettings set org.gnome.Vino require-encryption false
 

降低伺服器端的安全等級（不推薦）。