Heimdall is a cross-platform open-source tool suite used to flash firmware (aka ROMs) onto Samsung mobile devices.

http://glassechidna.com.au/heimdall/

Video with instructions

Install on Ubuntu

sudo apt-get install heimdall-flash-frontend heimdall-flash

Start in console

heimdall-frontend

Detect devices

sudo heimdall detect

Drivers

http://www.driverscape.com/download/gt-i9195