VNC

VNC (Virtual Network Computing) is a remote desktop protocol that allows you to control a remote computer as if it were a local one.

Your car is configured to run the TurboVNC server.

In order to connect to the VNC server, you will need to install the TurboVNC viewer from the GitHub releases page.

Once you've installed the TurboVNC viewer, you can connect to the VNC server by typing in your car ip address into the TurboVNC viewer followed by :5909, which is the port that corresponds to display 9.

For example, for car 12, the ip address and port number string to enter in the "New TurboVNC Connection" window is 10.1.0.112:5909, or if you're udpated your hosts file, you can use car12:5909.

You will then see the TurboVNC viewer window, which will show you a desktop environment, running on your car.

In this window, open a terminal and you can run any ros commands, including graphical programs, like rviz2.

You do not need to enter the docker container inside the VNC connection window, because the VNC process is already running inside the docker container.