Because you are working on the Ubuntu server which is headless, you may wonder how to use graphical tools. You have 2 choices. You can install Ubuntu-desktop and connect your Display device to your Raspberry Pi. But this way has 2 disadvantages.
- ubuntu-desktop consumes more than 2GByte additional stage.
- Working while looking at the desktop and PC at the same time may be a bit of a pain in the neck.
You can use graphical applications on your PC without Ubuntu-desktop through trusted X11 forwarding.
X11 might be available on your PC as follows:
For using trusted X11 forwarding, just you should connect your Raspberry Pi with -Y option as follow:
ssh -Y pi@ubuntu.local
So, you can run the Turtlesim app on your PC seamlessly as follows:
ros2 run turtlesim turtlesim_node
