Ubuntu22にXRDPをインストールしてWindows Remote Desktopから使う

VNCでROS2のRviz2やらGazeboやらが動かないのでXRDPを使うことにした。

まず以下を実行
askubuntu.com

$ sudo apt install dbus-x11
$ dbus-session

そして次を実行
askubuntu.com

sudo apt install xrdp
sudo systemctl enable --now xrdp

sudo ufw allow from any to any port 3389 proto tcp

sudo vi /etc/xrdp/startwm.sh

#!/bin/sh
# xrdp X session start script (c) 2015, 2017, 2021 mirabilos
# published under The MirOS Licence

# Rely on /etc/pam.d/xrdp-sesman using pam_env to load both
# /etc/environment and /etc/default/locale to initialise the
# locale and the user environment properly.

export GNOME_SHELL_SESSION_MODE=ubuntu
export XDG_CURRENT_DESKTOP=ubuntu:GNOME
export $(dbus-launch)

if test -r /etc/profile; then
        . /etc/profile
fi

test -x /etc/X11/Xsession && exec /etc/X11/Xsession
exec /bin/sh /etc/X11/Xsession

$ sudo systemctl restart xrdp

Windows remote desktopの設定

動いた

以下のスクリプトも実行していた（ソースがどこかわからなくなった）
上記で動かなかったら以下を実行してみるのが良いかも
enhanced-session-mode.sh

#!/bin/sh

# Add script to setup the ubuntu session properly
if [ ! -e /etc/xrdp/startubuntu.sh ]; then
cat >> /etc/xrdp/startubuntu.sh << EOF
#!/bin/sh
export GNOME_SHELL_SESSION_MODE=ubuntu
export XDG_CURRENT_DESKTOP=ubuntu:GNOME
exec /etc/xrdp/startwm.sh
EOF
chmod a+x /etc/xrdp/startubuntu.sh
fi

sed -i_orig -e 's/startwm/startubuntu/g' /etc/xrdp/sesman.ini

# rename the redirected drives to 'shared-drives'
sed -i -e 's/FuseMountName=thinclient_drives/FuseMountName=shared-drives/g' /etc/xrdp/sesman.ini

# Changed the allowed_users
sed -i_orig -e 's/allowed_users=console/allowed_users=anybody/g' /etc/X11/Xwrapper.config

# Configure the policy xrdp session
cat > /etc/polkit-1/localauthority/50-local.d/45-allow-colord.pkla <<EOF
[Allow Colord all Users]
Identity=unix-user:*
Action=org.freedesktop.color-manager.create-device;org.freedesktop.color-manager.create-profile;org.freedesktop.color-manager.delete-device;org.freedesktop.color-manager.delete-profile;org.freedesktop.color-manager.modify-device;org.freedesktop.color-manager.modify-profile
ResultAny=no
ResultInactive=no
ResultActive=yes
EOF

# https://askubuntu.com/questions/1193810/authentication-required-to-refresh-system-repositories-in-ubuntu-19-10
cat > /etc/polkit-1/localauthority/50-local.d/46-allow-update-repo.pkla<<EOF
[Allow Package Management all Users]
Identity=unix-user:*
Action=org.freedesktop.packagekit.system-sources-refresh
ResultAny=yes
ResultInactive=yes
ResultActive=yes
EOF

（追記）Firefoxが動かなかったので、環境変数を追加した。
unix.stackexchange.com

sudo vi /etc/xrdp/startwm.sh

#!/bin/sh
# xrdp X session start script (c) 2015, 2017, 2021 mirabilos
# published under The MirOS Licence

# Rely on /etc/pam.d/xrdp-sesman using pam_env to load both
# /etc/environment and /etc/default/locale to initialise the
# locale and the user environment properly.

export GNOME_SHELL_SESSION_MODE=ubuntu
export XDG_CURRENT_DESKTOP=ubuntu:GNOME
export $(dbus-launch)
export DBUS_SESSION_BUS_ADDRESS="unix:path=$XDG_RUNTIME_DIR/bus"

if test -r /etc/profile; then
        . /etc/profile
fi

test -x /etc/X11/Xsession && exec /etc/X11/Xsession
exec /bin/sh /etc/X11/Xsession