Chrome Remote Desktop is not strictly for ChromeOS. At the Daily Data offices, we use it to connect to various machines, from/to Unix to Microsoft Windows to MacOS. But, it is also very handy for connecting too/from a ChromeOS based machine.
This is strongly based on the Chrome web browser (Chromium works as well), and the simplest solution is to open up Google Chrome to https://remotedesktop.google.com/support from any machine.