sudo apt-get update && sudo apt-get -y upgrade && sudo apt-get -y install software-properties-common
sudo add-apt-repository ppa:guacamole/stable
sudo apt-get -y install guacamole-tomcat libguac-client-ssh0 libguac-client-rdp0

Теперь guacamole доступен тут: http://___IP___:8080/guacamole/