You might want to read this to get an introduction to armel vs armhf.
If the below is too much, you can try Ubuntu-ARMv7-Qemu but note it contains non-free blobs.
First, cross-compile user programs with GCC-ARM toolchain. Then install qemu-arm-static so that you can run ARM executables directly on linux
If there's no qemu-arm-static in the package list, install qemu-user-static instead