Vidalia has been discontinued for a long time now because it has not been maintained to keep up with changes in tor. At present there is no officially recommended alternative, though I have heard some rumors about it being revived.
To answer "Is there any way to use it?" Yes of course it is possible, but you should not use it. It is discontinued for a reason, and we don't know the security implications of using unmaintained software.
As a side note, you make it sound like you are using packages out of the Ubuntu repositories. See https://www.torproject.org/docs/tor-relay-debian.html.en for a warning telling you to not using Ubuntu's repositories for tor.