First off, go ahead and install some libraries:
sudo apt-get install libxaw7 libmotif3
Go to http://www.citrix.com , click on “Downloads”, then click on “Citrix XenApp”, then select Linux clients. Download the tarball for Motif in your preferred language. Place it on your Desktop, and open a terminal.
cd ~/Desktop
mkdir citrix && mv ./en.linuxx86.tar.gz ./citrix && cd ./citrix
tar xvzf en.linuxx86.tar.gz
sudo ./setupwfc
The install prompts should accept default input.
Now we’re going to need to go grab a 32-bit copy of libmotif3. Click here and select a mirror. Download the file to your Desktop.
Open up a terminal again, we’re going to pluck out the 32-bit motif libraries that we need.
cd ~/Desktop
mkdir motif
mv libmotif* ./motif/ && cd ./motif
ar -x ./libmotif*
tar xvzf data.tar.gz
cd ./usr/lib/
cp * /usr/lib32/
Now go on and run wfcmgr!
Ta-da!
-LightningCrash

Nice post; trying to install the current version with 9.04 (Jaunty Jackalope) the setwpc script fails with “echo_cmd” not found. I don’t suppose you’ve got updated instructions floating about, do you? :>
Todd Boss covers that here:
http://blog.toddboss.com/post/99531899/ubuntu-tip-install-citrix-client-in-64-bit-ubuntu-9-04
Best of luck to you!