SSH link remote server and local display of remote graphical interface

One 、ssh Link remote server

There are many ways to do this , Here are two ：MobaXterm and VSCode

1.1、MobaXterm

MobaXterm Configuration is relatively simple

After confirmation, enter the command line interface and enter the password

1.2、VSCode

VSCode Configuration trouble points , It can be used after connecting VSCode Development tools for , Breakpoints are made above Debug No problem ！

Install the extension first ：

Then there will be a small icon of the display screen in the left side bar

make new connection

Enter the user name and IP（ Format ： ssh user name @IP）

Select the configuration file path （ Default to the first one ）

New window

Select the system type

Continue

Enter the server password

The lower right corner shows IP The connection is successful

Open the folder according to the target path

But that's what I chose ：

in addition ,

ctrl + `

The command line window can be opened

Problems and solutions

If you encounter problems like the following , You can refer to Blog solve .

Try deleting the profile first

contrast

• MobaXterm Can visualize the list of files , And provide download function ！

• VSCode The highlight is ssh After connecting ,VSCode All other extensions can also be used , It is basically the same as the local ！

Two 、 Local display of remote graphical interface

（ Apply to Ubuntu） If you just view remote documents , It can be directly connected as follows （ Format ： ssh:// user name @IP）

Then it was connected directly

notes ： This method can only view the contents of remote documents , Command line run ros It's still under exploration .
If you have to run , Will be like me （ Maybe I opened it in the wrong way , Please also ask the big guy passing by to teach me ！！！）

2.1、MobaXterm

ssh Execute the command after connecting ：

sudo vim /etc/ssh/sshd_config

Pull down , Find the following , Change to consistent ：

Save and execute the command ：

service ssh reload 
sudo apt install x11-apps

Then execute the following command to test ：

xclock

Such a clock window will appear

Visualization of other windows （ such as opencv Of imshow） You can explore for yourself

2.2、VSCode

And MobaXterm similar , Carry out orders code /etc/ssh/sshd_config Modify the configuration file

And then execute ：

service ssh reload 
sudo apt install x11-apps

however VSCode No, DISPLAY Environment variables of , Need to go MobaXterm Through execution

env | grep DISPLAY

Get output similar to the following

Then back VSCode, perform （ These two sentences must be executed every time the terminal is opened ……）

export DISPLAY=localhost:10.0 
source ~/.bashrc

Then simply look at the effect

xclock

2.3 summary

The above method can only be used to visualize simple windows , Tools that integrate complex functions such as rviz Cannot be opened （ There are successful leaders who ask me ！！！）

appendix

VSCode Of CMake To configure
VSCode Of Python To configure

Reference resources

https://developer.horizon.ai/college/detail/id=89018995415500842
https://zhuanlan.zhihu.com/p/260189540
http://t.zoukankan.com/hellowooorld-p-10729981.html