Arduino for Teensy
Install arduino using apt-get (v1.0.5) and then purge it
Doing so installs the missing libraries that are required for v1.8.7
sudo apt-get install arduino
sudo apt-get purge arduino
Go to Downloads directory and download Arduino 1.8.7 from teensyduino website
cd ~/Downloads
wget https://www.pjrc.com/teensy/td_144/arduino-1.8.7-linuxaarch64.tar.xz
tar -xf arduino-1.8.7-linuxaarch64.tar.xz
cd arduino-1.8.7/
./install.sh
Now arduino IDE will be a shortcut on desktop