Installing the Citrix client became a lot easier with time.
Only download the latest version from Citrix website here (time of writing it was icaclient_13.1.0.285639_amd64.deb ) and install.
For Firefox; restart your browser and ensure the plugin is set to "Always Activate"
Should you encounter a SSL Error 61 afterwards just link the Firefox certificates to the Citrix ICAClient keystore :
sudo ln /usr/share/ca-certificates/mozilla/* /opt/Citrix/ICAClient/keystore/cacerts
That should sort out the error.
Handy links:
https://help.ubuntu.com/community/CitrixICAClientHowTo
sudo ln -s /usr/share/ca-certificates/mozilla/* /opt/Citrix/ICAClient/keystore/cacerts/
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