On Windows and OSX, the Chrome browser picks up the certificate trust store from your host computer. However, on Linux you'll need to install the certificate via the browser settings.
With Burp running, visit http://burp in your browser and click the "CA Certificate" link to download and save your Burp CA certificate. Take note of where you save the Burp CA certificate.
In Chrome's settings, go to "Advanced" > "Manage certificates".
Select the "Authorities" tab and use the "Import" function.
Select the correct certificate file option (DER).
Select the certificate file and click "Open".
Configure the certificate trust settings.
If everything has worked, you should now be able to visit any HTTPS URL via Burp without any security warnings.