I am creating this post in order to document how I setup remote desktop on Pop OS.

The first step is to install xrdp

sudo apt update
sudo apt install xrdp -y

From there you need to create the security groups

sudo groupadd tsusers
sudo groupadd tsadmins
sudo usermod -aG tsusers $USER
sudo usermod -aG tsadmins $USER

The you need to edit /etc/xrdp/sesman.ini to enforce groups. Change AlwaysGroupCheck to true and disable root login.

From there you need to give xrdp permission.

sudo adduser xrdp ssl-cert

Next you need to setup polkit rules.

sudo bash -c "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

sudo bash -c "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;org.freedesktop.packagekit.system-network-proxy-configure 
ResultAny=yes 
ResultInactive=yes 
ResultActive=yes 
EOF

From there you need to setup the desktop. By default Gnome will start so you will need to set the pop desktop as default. To do this edit sudo nano /etc/xrdp/startwm.sh and add the following:

export GNOME_SHELL_SESSION_MODE=pop
export GDMSESSION=pop
export XDG_CURRENT_DESKTOP=pop:GNOME

From there you can start xrdp.

sudo systemmctl start xrdp

enjoy!

Sources:

https://c-nergy.be/blog/?p=16637

https://forum.level1techs.com/t/xrdp-on-popos-fix/163985

https://linuxize.com/post/how-to-install-xrdp-on-ubuntu-20-04/

https://askubuntu.com/questions/1433247/ubuntu-22-04-xrdp-allow-multiple-sessions-and-restrict-some-users