I wasted too many hours trying to get this to work. Almost every stack overflow post was useless, aside from this one. In my case, I was using Python and Firefox. The following are the steps I had to take in order to get selenium working:
sudo apt-get update
sudo apt-get install firefox-esr
In my case, the most recent supported version is 52.9.0. Yes this is as ancient as it looks, but it will work.