Unfortunately, Ubuntu only provide the obsolete libmotif3 version and the not the current version 4 that the receiver is built against. The workaround below will get you going...
sudo apt-get install libmotif3
sudo ln -s /usr/lib/libXm.so.3.0.2 /usr/lib/libXm.so.4
Applications -> Internet -> Citrix Receiver = Working fine!
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