Installing and using OpenVas in Kali is fairly simple, and is well described here: https://www.kali.org/penetration-testing/openvas-vulnerability-scanning/
I found a couple issues with the installation, though they are fairly easy to resolve.
Issue 1: creating new credentials produces a 500 server error. This is caused by the fact that folder where OpenVas is storing GNUPG encrypted credentials doesn’t exist, here’s the easy fix:
(resolution taken from: https://forums.kali.org/showthread.php?25750-OpenVAS-8-Internal-error-while-creating-credentials)
Note that creating the first set of credentials takes some time (OpenVAS generates keys for credential encryption).
Issue 2: doing a scan on a host that doesn’t respond to PING gives Internal Error status for the task. This is a known issue that has been fixed, but not yet included in Kali (as of 20 May 2016). Solution:
sqlite3 /var/lib/openvas/mgr/tasks.dbCREATE TABLE IF NOT EXISTS current_credentials (id INTEGER PRIMARY KEY, uuid text UNIQUE NOT NULL);