Cross-compile for armhf and install a static library

Step 1 - Open terminal:

Press Ctrl+Alt+T.

Step 2 - Backup:

Execute:

sudo cp /etc/apt/sources.list /etc/apt/sources.list.old

Step 3 - Open the editor:

Execute:

sudo gedit /etc/apt/sources.list

You can use other editors if you want.

Step 4 - Edit sources.list:

Remove everything here and add these:

deb [arch=amd64] http://archive.ubuntu.com/ubuntu/ xenial main multiverse restricted universe
deb [arch=armhf] http://ports.ubuntu.com/ubuntu-ports/ xenial main multiverse restricted universe
deb [arch=armhf] http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main multiverse restricted universe
deb [arch=amd64] http://archive.ubuntu.com/ubuntu/ xenial-updates main multiverse restricted universe
deb [arch=amd64] http://security.ubuntu.com/ubuntu/ xenial-security main multiverse restricted universe

Save and exit.

Step 5 - Update your repository index:

Execute:

sudo apt update

Step 6 - Install libudev-dev for armhf architecture:

Execute:

sudo apt install libudev-dev:armhf

Clarification: Multiarch packages need to be installed with the same version on all architectures. So, you should have libudev-dev:armhf with version 229-4ubuntu21.4, but your current repository configuration does not include this version. So, you should add the line with xenial-updates where this version is supported.

About other suggested to add channels, I suggested you add these in case something goes wrong.