cgi-mapserver software package provides CGI executable for MapServer, you can install in your Ubuntu 16.04 LTS (Xenial Xerus) by running the commands given below on the terminal,
$ sudo apt-get update $ sudo apt-get install cgi-mapserver
cgi-mapserver is installed in your system.
Make ensure the cgi-mapserver package were installed using the commands given below,
$ sudo dpkg-query -l | grep cgi-mapserver *
You will get with cgi-mapserver package name, version, architecture and description in a table
| Distro | Ubuntu 16 04 lts xenial xerus |
| Section | Development |
| Package | cgi-mapserver |
| Version | 7.0.0-9ubuntu3 |
| Description | CGI executable for MapServer |
| Sub Section | Devel |