Using VNC as alternative to X11 for the visualization stuff

[f5-rahm]

Spent the better part of a day trying to get the ROS server X11 display to work on Mac with xquartz and couldn't quite get to the finish line. Shifted gears to vnc and that's working great, but does require me to configure the container every time I start it. Would be a nice add to the container in a future update if that's possible, but for now I'm fine to work around the issue. For anyone else interested in this approach, here's what I'm doing:

`

Start the container

docker run --name makerspet
-it --rm
-p 8888:8888/udp -p 4430:4430/tcp -p 5901:5901
-e DISPLAY=:1
kaiaai/kaiaai:iron

Install, Configure, and Start VNC

apt-get update --allow-unauthenticated
apt-get install -y --allow-unauthenticated tigervnc-standalone-server xfce4 xfce4-terminal
vncpasswd (set a password; I skip the view only one)
echo startxfce4 > ~/.vnc/xstartup
chmod +x ~/.vnc/xstartup
vncserver :1 -geometry 1920x1080 -depth 24 -localhost no`

[makers-pet]

Hi f5-rahm,

thank you so much for posting your solution, much appreciated!

Let me will add this to the Docker image and release sometime this week.

[kaiaai]

Hello,

I've added TigerVNC and Xfce, tested on Windows WSL+Docker and released the updated Docker image. Thank you for posting the solution. The release notes are here https://github.com/kaiaai/install/tree/main

When using VNC instead of X server, run kaiaai/kaiaai docker image as follows in Windows:

docker run --name makerspet -it --rm -v c:\maps:/root/maps -p 8888:8888/udp -p 4430:4430/tcp -p 5901:5901 -e DISPLAY=:1 kaiaai/kaiaai:iron

After that, launch the VNC server inside the Docker container. You will be prompted to choose a VNC password.

vncserver :1 -geometry 1920x1080 -depth 24 -localhost no

On your Windows (MacOS?) PC: install a VNC viewer (e.g. I've used https://www.tightvnc.com/ ) and Launch the VNC viewer. Open localhost:5061 and enter your VNC password.