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This is a short how-to explaining the steps to take to install the ICA Client on Linux Ubuntu. I have tested it on Feisty and Gutsy, but I have read reports that it works also on Hardy, Intrepid and Jaunty. Justbe aware which part of the how-to is specifically for your ubuntu version.
The goal is to get this all working to log on to the ICA Server of the University of Maastricht (unimaas).
My main sources:

• http://wass.homelinux.net/howtos/Citrix_ICA_How-To.shtml

Download the last Citrix ICAclient for Linux (in tar.gz version). You can find the official download link on this page.

1. If you are installing this on Ubuntu versions before 9.04 (Jaunty) then Install libxaw6 libmotif3
   (sudo aptitude install libxaw6 libmotif3)
   If you are installing this on Ubuntu versions on 9.04 (Jaunty) or later then Install libxaw7 libmotif3
   (sudo aptitude install libxaw7 libmotif3)
2. Unpack the downloaded tar.gz
   (sudo tar xvfz en.linuxx86.tar.gz)
3. Start the installation.
   (sudo ./setupwfc)
4. Now follow the instruction on the screen to (un)install the Citrix Client on your system.
   Use the default options for a smooth installation.
   Finally, accept the License Agreement.
5. Let it integrate with Gnome (or KDE).
6. Now quit the installation program.

The client is now installed on your system and should work. Test this by:
cd /usr/lib/ICAClient
sudo ./wfcmgr

For Ubuntu version (before Jaunty 9.04)

Now we have to change the permissions of some files in your home folder. Do this by:
cd ~
sudo chown -R USERNAME:GROUPNAME .ICAClient/

Finally only the Certificate Trust error remains. This problem can be tackled by:

1. Download the certificate at:
   http://secure.globalsign.net/cacert/Root.crt
2. Copy the certificate to the cacert folder of the ICA Client:
   sudo cp ~/Desktop/Root.crt /usr/lib/ICAClient/keystore/cacerts/Root.crt

Now the application should work!
Good luck!!!