#1
安装x11vnc

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

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#2
生成密码

$ x11vnc -storepasswd

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#3
开启服务

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

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#4
设为开机启动

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

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插入以下代码

[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

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

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注意在这之前不要尝试更老版本的VNCServer否则我出现莫名其妙的错误，然后日常重装Ubuntu
#5
连接时出现错误
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.
在服务器端使用

gsettings set org.gnome.Vino require-encryption false

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降低服务器端的安全等级（不推荐）。