Hi Stephen,
As per SAP note 636912, I have verified and tried reinstalling the sapjco3.jar and sapidocjco.jar and set the environment variable as per installation.html in http://service.sap.com/connectors
env:
SHLIB_PATH = <jco installation path>
CLASSPATH = <jco installation path>/sapjco3.jar.
Also executed, echo $SHLIB_PATH. variables pointing to target sapjco installation folder.
But stuck up here and unable to execute ./startidocreceiver.sh