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On Ubuntu and Debian the process is identical, so just open a terminal and type:
sudo apt-get install gufw
Once installed just run gufw from the terminal. Make sure you change status to on. In order to open a port just go to rules and an advanced rule opening port 22 would be something like:
Name: SSH Insert: 0 Policy: Allow Direction: In Interface: All Interfaces Protocol: TCP From: <blank> <blank> To: <blank> <22>
This opens SSH from anywhere to your PC. Obviously this is an example, you would change or add rules as appropriate for your use case.
Example:
Notes: If anyone has any other notes or useful commands regarding ufw, add them here.