Dependencies

apt-get install libcairo2-dev libossp-uuid-dev libvncserver-dev

To get FreeRDP, if you'll support that

apt-get install libfreerdp-dev libtelnet-dev libvorbis-dev

Building

libtoolize --force
aclocal
autoheader
automake --force-missing --add-missing
autoconf
./configure --prefix=/opt/guacamole-server
make
make install
cp /usr/src/guacamole-client/guacamole/doc/example/guacamole.properties /usr/share/tomcat7/.guacamole/

Custom Authentication Provider

cd /usr/src/guacamole-client/extensions/guacamole-auth-http/ cp \ /usr/src/guacamole-client/extensions/guacamole-auth-http/target/guacamole-auth-http-0.0.1.jar \ /var/lib/tomcat7/webapps/guacamole-0.9.3/WEB-INF/lib/

See Also

http://guac-dev.org/doc/gug/installing-guacamole.html