Modifying Ubuntu for LimeSDR

We have a LimeSDR Mini connected to an Udoo Advanced board. We want to get/send data and control this setup from another board (headless mode). On the Udoo board we only need the USB3, Ethernet functionality and to run some gnuradio functions. We don’t need any graphics or other function. How can we tailor Ubuntu to achieve this.

I’ll point out that this isn’t even CLOSE to being a LimeSDR-only type of question.

See, for example: