I did not know about xRDP, I searched for VNC installation in the community and I got a step by step tutorial on how to do it.
After your suggestion
I installed XRDP using this tutorial.
I was able to start XRDP once and do remote operation using windows remote desktop application.but when restarted the system and added command “sudo service xrdp restart” to startup on rosbot. I was not able to get remote desktop connection. the system just won’t start.