I have faced the same issue. When I changed LoginToConsole to true in UiPath settings it worked. Looks like Citrix receiver is not working when LoginToConsole is false.
thanks @ailas2030 it worked for me too.
We have seen this issue and increasing load timeout value has solved it.
On 32-bit Windows :
Location: HKEY_LOCAL_MACHINE\SOFTWARE\Citrix\ICA Client
Data: Any value in seconds (Decimal)
You can find more details here: https://support.citrix.com/article/CTX133536
Solution 2 has worked for us.