Here you are a working stack:
Some previous notes:
If you run selenium in a non graphical enviromnent, xvfb is required.
You will need selenium-server-standalone-2.53.1.jar (working version). You can download selenium versions here: http://selenium-release.storage.googleapis.com/index.html
You will also need chromedriver v 2.27. Download link: https://chromedriver.storage.googleapis.com/index.html
1) Run sudo Xvfb :10 -ac &
2) Run export DISPLAY=:10
3) Run java -jar "YOUR_PATH_TO/selenium-server-standalone-2.53.1.jar" -Dwebdriver.chrome.driver="YOUR_PATH_TO/chromedriver.2.27" -Dwebdriver.chrome.whitelistedIps="localhost"