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A dummy driver can help!

Just following the first voted answer here https://askubuntu.com/questions/453109/add-fake-display-when-no-monitor-is-plugged-in.

It works for me in Ubuntu 16.04 with a little modification:

  • Replace the installation with sudo apt install xserver-xorg-video-dummy-lts-xenial.
  • And write in the configuration file /usr/share/X11/xorg.conf.d/xorg.conf following the above link.
Section "Device"
    Identifier  "Configured Video Device"
    Driver      "dummy" EndSection

Section "Monitor"
    Identifier  "Configured Monitor"
    HorizSync 31.5-48.5
    VertRefresh 50-70 EndSection

Section "Screen"
    Identifier  "Default Screen"
    Monitor     "Configured Monitor"
    Device      "Configured Video Device"
    DefaultDepth 24
    SubSection "Display"
    Depth 24
    Modes "1024x800"
    EndSubSection EndSection
  • Reboot, and now RViz can work over VNC without monitor.