Chris, i just tested it on a clean system:

1) download and dd on a sd card this image: 
http://people.canonical.com/~ppisati/ubuntu_embedded/ubuntu-embedded-16.04-raspi2.img.xz
2) sudo apt-get update
3) sudo apt-get install libraspberrypi-bin libraspberrypi-dev
4) modify /boot/firmware/config.txt, and comment out these two lines:

#dtparam=i2c_arm=on
#dtparam=i2c_vc=on

and append these at the end:

gpu_mem=128
start_x=1

5) reboot
6) sudo raspistill -o foobar.jpg

It works.

If it still doesn't work for you, i think you might have a setup problem
- can you try your board with the raspbian image?

https://downloads.raspberrypi.org/raspbian_latest

Do not use raspi-config with our image: it's a tool tailored for the
raspbian image (we don't mount stuff in the same place, we don't have
lua or whiptail, etc) and all it does when you enable the camera through
it is to just modify config.txt as mentioned above.

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https://bugs.launchpad.net/bugs/1532217

Title:
  Can't modprobe bcm2835-v4l2 to use RPi2 camera module

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