VNC allows users to launch and interact with graphical applications on remote machines.

This document details how to setup TigerVNC on the Spot CORE. We will also use the XFCE desktop environment, port forwarding, and systemd .service files in the content below.


Spot CORE now comes preconfigured with TigerVNC. The following sections outline the steps necessary for enabling the service before use.

TigerVNC Server Enable

SSH into the Spot CORE. Wirelessly connect a PC to the Spot Robot and open a Command Line Interface (CLI) to run the following.

ssh -p 20022 spot@

Create a VNC password

Create a VNC password. A view-only password is not required.


Enable and start the service on the desired port.

sudo systemctl enable vncserver@15100 # Enable service with the desired port.
sudo systemctl start vncserver@15100  # Start service.
systemctl status vncserver@15100 # Check the service is running.

In the example commands above, the vncserver port number used is 21000 (5900 + 15100). See start vncserver for more information.

TigerVNC Viewer

Perform the following steps on the PC to start the VNC connection.

Install vncviewer

Install vncviewer for 64-bit Windows by downloading vncviewer64-1.10.1.exe from

Install tigervnc-viewer on Ubuntu using apt:

sudo apt install tigervnc-viewer

Start vncviewer

We need to create a secure connection using an SSH tunnel first. The below command assumes the user is connected to Spot’s access point. Don’t forget to change the ip address or port number if required. To run this ssh session in the background without executing any commands, add -fN arguments to the end of the command.

ssh -4 -p 20022 spot@ -L 21000:

Start VNC Viewer and pass the IP address and port number.

vncviewer localhost:21000

An XFCE desktop environment should now be available.

TigerVNC Server Installation

This section is not required if the Spot CORE is on any software version greater than 2.0.1.

Install software

Install software required for the TigerVNC server on the Spot CORE using apt:

sudo apt install xfce4
sudo apt install tigervnc-standalone-server tigervnc-common tigervnc-xorg-extension tigervnc-viewer

If the user has not setup a VNC password, please see the earlier instructions on how to create a vnc password.

Prepare vncserver

To configure the XFCE desktop, create a xstartup file in ~/.vnc/xstartup and add the following contents.


# Uncomment the following two lines for normal desktop:
# exec /etc/X11/xinit/xinitrc

[ -x /etc/vnc/xstartup ] && exec /etc/vnc/xstartup
[ -r $HOME/.Xresources ] && xrdb $HOME/.Xresources
xsetroot -solid grey
vncconfig -iconic &
x-terminal-emulator -geometry 80x24+10+10 -ls -title "$VNCDESKTOP Desktop" &
x-window-manager &

exec /usr/bin/startxfce4 &

Start vncserver

TigerVNC listens to ports 5900+. The default port is 5901 (5900 + 1), which can be started using the following command.

vncserver :1

In order to specify a different port, such as 21000, run vncserver with the number equal to 21000 - 5900 = 15100.

vncserver :15100

Use -list to see the previously started vnc servers.

vncserver -list

Use the below command to stop the previously started vnc servers.

vncserver -kill :1
vncserver -kill :15100

Enable vncserver on boot

In order for vncserver to automatically run on Spot CORE whenever Spot is turned on, use a systemd .service file. Create a servive file named vncserver@.service and add the following contents. This file can take a port number as an argument.

Description=Start TigerVNC server at startup


ExecStartPre=-/usr/bin/vncserver -kill :%i > /dev/null 2>&1
ExecStart=/usr/bin/vncserver -depth 24 -localhost no :%i
ExecStop=/usr/bin/vncserver -kill :%i


Copy the file to /etc/systemd/system/ and start the service. Change the port number as desired.

sudo cp vncserver@.service /etc/systemd/system/ 
sudo systemctl daemon-reload # Reloads all systemd services.