For this to work you need to have an account on access.redhat.com to be able to download the required jvisualvm.sh or .jvisualvm.bat script. See https://access.redhat.com/solutions/151343.
After download and copied to $JBOSS_HOME/bin, run it. Of course you need first to install VisualVM (jvisualvm). For Ubuntu see my previous blog. http://magnus-k-karlsson.blogspot.se/2016/03/how-to-install-visualvm-jvisualvm-on.html.
Then you need to bind the management interface to an external interface (only for remote usage) and create a management account. For details see my blog about jconsole http://magnus-k-karlsson.blogspot.se/2013/01/how-to-remote-connect-jconsole-to-jboss.html.
Then run the script and open File --> Add JMX Connection ...