1. Install "debootstrap" into your ubuntu system.
$sudo apt-get install debootstrap
2. Create the ubuntu core file system.
$sudo debootstrap --arch=armhf --keyring=/usr/share/keyrings/ubuntu-archive-keyring.gpg --verbose --foreign trusty rootfs
3. Install "qemu" into your ubuntu system.
$sudo apt-get install binfmt-support qemu qemu-user-static
4. Copy the qwmu-arm-static into your target file system.
$sudo cp /usr/bin/qemu-arm-static rootfs/usr/bin
5. Change root to your target file sytem.
$sudo chroot rootfs /bin/bash
6. Create the target file system without on arm.
$/debootstrap/debootstrap --second-stage
7. Next time, you can use "apt-get" to install any deb into target file system on host pc.
Reference:http://berniechenopenvpn.blogspot.tw/2015/07/filesystem.html
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