While I just solved that for Xenial, I did not tried to recompile / develop anything yet!
So, you need to add an Ubuntu ppa that will give you access to Python3.6-dev this way:
sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt-get update
sudo apt-get upgrade
sudo apt install python3.6-dev jevoisbase-platform jevois-platform jevois-sdk jevois-sdk-dev
And tha's all!