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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