If you need the newest arp-scan (for example because of it's uptodate MAC address list), here is how to install the Git version of arp-scan on Ubuntu and Raspberry's Raspbian (and probably Debian).
Disclaimer: no IPv6 involved.
Here's the set of commands:
sudo apt-get update && sudo apt-get upgrade
sudo apt-get install automake libpcap-dev
git clone https://github.com/royhills/arp-scan.git
sudo ./arp-scan --localnet --interface=wlan0
That should work: it should give the MAC addresses visible via interface wlan0. Change to eth0 if you're system is connected via eth0.
To install the new arp-scan unto your system:
sudo make install
sudo arp-scan --localnet --interface=wlan0
Check the version:
sander@flappie:~/git/arp-scan$ sudo ./arp-scan --version
Copyright (C) 2005-2013 Roy Hills, NTA Monitor Ltd.
arp-scan comes with NO WARRANTY to the extent permitted by law.
You may redistribute copies of arp-scan under the terms of the GNU
General Public License.
For more information about these matters, see the file named COPYING.
libpcap version 1.3.0
That's it. Happy arp-scanning!