Using this ubuntu guide with 2 changes.

1. Change the configure line to

./configure --libexecdir=/lib/x86_64-linux-gnu/security/ --with-mantype=man

2. Instead of editing the sudoers file, create a file under sudoers.d (more modular):

echo "Defaults env_keep += SSH_AUTH_SOCK" > /etc/sudoers.d/ssh_auth

Also note that the latest version of this module on sourceforge is more recent than linked.