If you use Ubuntu precise you can install Go environment with
sudo apt-get install golang
If golang is not contained in your package management system, follow the instruction in golang.org.
Install golang websocket library.
sudo go get code.google.com/p/go.net/websocket
Websocket library will be installed in the default directory of go packages (/usr/lib/go/pkg). If you don't want to (or can not) install, you can change the install directory with GOPATH environment variable.
git clone https://github.com/yunabe/htmlfwd.git
cd htmlfwd/server
make
Before running htmlfwd server, you need to create ~/.htmlfwdrc to configure port numbers.
cat > ~/.htmlfwdrc <<EOF
browser_port=8080
command_port=9999
keep_alive_interval=60
EOF
./htmlfwd