You can update Nucleo boards simply by copying the mbed image to the mass storage device presented when you connect to the composite USB interface.
The image file is automatically written to the microcontroller flash by the integrated STLink device when the file is placed on the USB drive. This is a "write-only" device; the written file cannot be read back - if you interrogate the drive it always appears empty.
In Ubuntu you may have to explicitly mount the device. If it mounts automatically it will appear under /mnt
(I guess).
Since it is a standard USB mass storage interface, you should not need any Nucleo or ST specific driver or software. It is a "drag & drop" programming interface.
If your board does not appear as a mass storage device, you may need to update the integrated STLink firmware as described at https://os.mbed.com/teams/ST-Americas-mbed-Team/wiki/Preparing-the-STM32-Nucleo-Board