On your ubuntu server machine, set up, configure & run a packaged version of coturn. For a basic setup, do
# set up
sudo apt-get install --assume-yes coturn
# configure & run
USERNAME="some-username"
PASSWORD="some-password"
PORT=3478
# -n: use only commandline parameters, no config file
sudo turnserver \
    -n \
    --verbose \
    --lt-cred-mech \
    --user $USERNAME:$PASSWORD \
    --realm "someRealm" \
    --no-dtls \
    --no-tls \
    --listening-port $PORT
Add --daemon to keep it running in the background.
See https://github.com/coturn/coturn/wiki/turnserver for the list of options of turnserver and have a look at their example config file if you want to use one with -c CONFIGFILE instead of using -n and passing all options on the commandline like I did above.
To check that it worked, in Google Chrome, while on any page of a secure origin (for example stackoverflow.com), run this in the developer console:
function checkTURNServer(turnConfig, timeout){ 
  return new Promise(function(resolve, reject){
    setTimeout(function(){
        if(promiseResolved) return;
        resolve(false);
        promiseResolved = true;
    }, timeout || 5000);
    var promiseResolved = false
      , myPeerConnection = window.RTCPeerConnection || window.mozRTCPeerConnection || window.webkitRTCPeerConnection   //compatibility for firefox and chrome
      , pc = new myPeerConnection({iceServers:[turnConfig]})
      , noop = function(){};
    pc.createDataChannel("");    //create a bogus data channel
    pc.createOffer(function(sdp){
      if(sdp.sdp.indexOf('typ relay') > -1){ // sometimes sdp contains the ice candidates...
        promiseResolved = true;
        resolve(true);
      }
      pc.setLocalDescription(sdp, noop, noop);
    }, noop);    // create offer and set local description
    pc.onicecandidate = function(ice){  //listen for candidate events
      if(promiseResolved || !ice || !ice.candidate || !ice.candidate.candidate || !(ice.candidate.candidate.indexOf('typ relay')>-1))  return;
      promiseResolved = true;
      resolve(true);
    };
  });   
}
const USERNAME="some-username"
const PASSWORD="some-password"
const PORT=3478
const IP="10.11.0.115" // you will have to change this
console.log('TURN server reachable on TCP?', await checkTURNServer( {
    url: `turn:${IP}:${PORT}?transport=tcp`,
    username: USERNAME,
    credential: PASSWORD,
}))
console.log('TURN server reachable on UDP?', await checkTURNServer( {
    url: `turn:${IP}:${PORT}?transport=udp`,
    username: USERNAME,
    credential: PASSWORD,
}))
You should get
TURN server reachable on TCP? true
TURN server reachable on UDP? true