To cross-compile applications you need to use the ' arm-linux-gnueabihf ' compiler in the Ubuntu. Ubuntu 14.04 LTS was released with gcc-4.8.2. It is really important that the version of this GCC compiler matches the version deployed on the beaglebone black image. The reason for this is that different compilers have different libc versions, and version mismatching causes linker errors that are very tricky to solve.
You can try running,
gcc --version
on both your native Ubuntu system and the Beaglebone Black and see if the gcc version matches. If yes, you are good to go. Otherwise, install the appropriate toolchains.