I believe for bluetooth support, you can use the packages from raspbian,
http://archive.raspberrypi.org/debian/pool/main/p/pi-bluetooth/ (some other packages may be needed). This is how the Ubiquity Raspberry Pi image works, albeit for Xenial armhf.
@dheera Ubiquity Robotics maintains a Raspberry Pi Image with Ubuntu 16.04 + ROS Kinetic available here
https://downloads.ubiquityrobotics.com/pi.html. You might be interested.
Rohan
Ubiquity Robotics
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