It looks like the current set-up in Ubuntu 15.10 where rpc.idmapd daemon
is started on the server only may be correct/intentional after all. I
did not find conclusive information, however this BSD idmapd man page
http://man7.org/linux/man-pages/man8/idmapd.8.html states:

"Note that on more recent kernels only the NFSv4 server uses rpc.idmapd.
The NFSv4 client instead uses nfsidmap(8), and only falls back to
rpc.idmapd if there was a problem running the nfsidmap(8) program."

Which seems to be intended solution in Ubuntu. In any case current
systemd configuration is a bit confusing. There are two idmap unit
files:

$ systemctl -a list-unit-files *idmap*
UNIT FILE          STATE 
idmapd.service     masked
nfs-idmapd.service static

Normally one would expect that: idmapd.service starts rpc.idmapd
(instead this file is masked) and nfs-idmapd.service starts nfsidmap
(instead it starts rpc.idmapd). Of course the latter only before
realizing that nfsidmap is not a daemon and it does not need a unit
file.

I was able to get NFS4 to correctly map user names in Ubuntu 15.10 after 
updating /etc/idmapd.conf to explicitly define Domain parameter. Assuming my 
computer FQDN is nfsclient.lan I had to set:
# set your own domain here, if id differs from FQDN minus hostname
Domain = lan

In case one has a correctly configured DNS server this should apparently work 
out of the box with an implicit default setting; idmapd.conf man page states:
       Domain The local NFSv4 domain name.  An NFSv4 domain is a namespace with 
a unique username<->UID and group‐
              name<->GID mapping.  (Default: Host's fully-qualified DNS domain 
name)
Most likely it does not as the /etc/hosts contains an entry for the current 
machine without the domain name, as in:
127.0.0.1       localhost
127.0.1.1       nfsclient

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https://bugs.launchpad.net/bugs/1428961

Title:
  idmapd not started when booting under systemd

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