I found the answer:
On Linux system just run the below command:
sudo ~/.arduino15/packages/Intel/tools/arduino101load/1.6.4+1.18/scripts/create_dfu_udev_rule
And the issue will be solved.
In the above command just change the 1.6.4+1.18 as per your system and then execute the command.
On my system Ubuntu 16.04 instead of "1.6.4+1.18" I found "1.6.9+1.28" hence I changed the command and ran, it got executed successfully then and then I was able to upload sketches.
To check on your system which version no.(i.e. 1.6.4+1.18) is there just do "cd ~/.arduino15/packages/Intel/tools/arduino101load/"