ICE negotiation failure means that a UDP connection couldn't be set up. There are a couple of different causes and they mostly lead to an improper configuration. The three most common causes are:
1. Both the client and server are under NAT
2. The server is behind a firewall that is rejecting UDP packets
3. The client is behind a firewall that is rejecting UDP packets
As a server administrator you can only really control the first two. For problem 1, if your server is behind NAT you need to forward UDP ports 16384 - 32768. For problem 2, you need to allow UDP packets through your firewall.
To test problem 3 have the same client connect to
http://demo.bigbluebutton.org and try to join the audio. The reason we say to use this server is that we know it is properly configured and if the client still has issues then there's likely something going wrong on their side.
Chad