I have a workaround for this.
Since the error is "rm: cannot remove '/var/log/udev': Is a directory"
what I did was to manually remove the folder
sudo rm -r /var/log/udev
and then restart the configuration of the packages with
sudo dpkg --configure -a
This led to a successfull upgrade to 16.04.
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https://bugs.launchpad.net/bugs/1574004
Title:
package udev 229-4ubuntu4 failed to install/upgrade: subprocess
installed post-installation script returned error exit status 1
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