I hit this problem as well, booting on my system hangs for three minutes
waiting for udev to settle. I have a HP keyboard.

Booting without the keyboard plugged in, or removing the hplip package
solves the problem.

hplip version 3.15.2-0ubuntu4.1

$ lsusb 
Bus 001 Device 002: ID 03f0:0024 Hewlett-Packard KU-0316 Keyboard

$ sudo systemd-analyze blame
       3min 40ms systemd-udev-settle.service

$ journalctl  | grep -i udev
Jun 25 14:19:32 test-MSH87TN-00 systemd-udevd[265]: worker [283] 
/devices/pci0000:00/0000:00:14.0/usb1/1-1 is taking a long time
Jun 25 14:19:32 test-MSH87TN-00 systemd-udevd[265]: worker [285] 
/devices/pci0000:00/0000:00:14.0/usb1/1-3 is taking a long time
Jun 25 14:21:32 test-MSH87TN-00 systemd[1]: systemd-udev-settle.service start 
operation timed out. Terminating.
Jun 25 14:21:32 test-MSH87TN-00 systemd[1]: Failed to start udev Wait for 
Complete Device Initialization.
Jun 25 14:21:32 test-MSH87TN-00 systemd[1]: Unit systemd-udev-settle.service 
entered failed state.
Jun 25 14:21:32 test-MSH87TN-00 systemd[1]: systemd-udev-settle.service failed.
Jun 25 14:21:33 test-MSH87TN-00 systemd-udevd[283]: timeout '/bin/sh -c 'if [ 
-f /usr/bin/systemctl ]; then /usr/bin/systemctl --no-block start 
hplip-printer@001:002.service; else /usr/bin/nohup 
/usr/bin/hp-config_usb_printer 001:002 ; fi &''
Jun 25 14:21:33 test-MSH87TN-00 systemd-udevd[283]: timeout '/bin/sh -c 'grep 
-q ^#hpaio /etc/sane.d/dll.conf;if [ $? -eq 0 ];then sed -i -e s/^#hpaio/hpaio/ 
/etc/sane.d/dll.conf;else grep -q ^hpaio /etc/sane.d/dll.conf;if [ $? -ne 0 
];then echo hpaio >>/etc/sane.d/dll.conf;fi;fi''
Jun 25 14:21:33 test-MSH87TN-00 systemd-udevd[283]: slow: '/bin/sh -c 'grep -q 
^#hpaio /etc/sane.d/dll.conf;if [ $? -eq 0 ];then sed -i -e s/^#hpaio/hpaio/ 
/etc/sane.d/dll.conf;else grep -q ^hpaio /etc/sane.d/dll.conf;if [ $? -ne 0 
];then echo hpaio >>/etc/sane.d/dll.conf;fi;fi'' [1011]
Jun 25 14:21:33 test-MSH87TN-00 systemd-udevd[285]: timeout '/bin/sh -c 'if [ 
-f /usr/bin/systemctl ]; then /usr/bin/systemctl --no-block start 
hplip-printer@001:003.service; else /usr/bin/nohup 
/usr/bin/hp-config_usb_printer 001:003 ; fi &''
Jun 25 14:21:33 test-MSH87TN-00 systemd-udevd[285]: timeout '/bin/sh -c 'grep 
-q ^#hpaio /etc/sane.d/dll.conf;if [ $? -eq 0 ];then sed -i -e s/^#hpaio/hpaio/ 
/etc/sane.d/dll.conf;else grep -q ^hpaio /etc/sane.d/dll.conf;if [ $? -ne 0 
];then echo hpaio >>/etc/sane.d/dll.conf;fi;fi''
Jun 25 14:21:33 test-MSH87TN-00 systemd-udevd[285]: slow: '/bin/sh -c 'grep -q 
^#hpaio /etc/sane.d/dll.conf;if [ $? -eq 0 ];then sed -i -e s/^#hpaio/hpaio/ 
/etc/sane.d/dll.conf;else grep -q ^hpaio /etc/sane.d/dll.conf;if [ $? -ne 0 
];then echo hpaio >>/etc/sane.d/dll.conf;fi;fi'' [1012]

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https://bugs.launchpad.net/bugs/1433557

Title:
  udev rules wrongly match on monitor hub, wrong invocation of systemd
  unit, changes config files in udev rules

Status in HP Linux Imaging and Printing:
  Fix Released
Status in hplip package in Ubuntu:
  Fix Released

Bug description:
  During boot, systemd-udev-settle.service failes causing a 3min boot
  delay.

  Journal report this:
  > root@alice:~# journalctl -u systemd-udev-settle
  > -- Logs begin at Wed 2015-03-18 12:38:16 CET, end at Wed 2015-03-18 
12:47:32 CET. --
  > Mar 18 12:38:16 alice systemd[1]: Starting udev Wait for Complete Device 
Initialization...
  > Mar 18 12:41:16 alice systemd[1]: systemd-udev-settle.service start 
operation timed out. Terminating.
  > Mar 18 12:41:16 alice systemd[1]: Failed to start udev Wait for Complete 
Device Initialization.
  > Mar 18 12:41:16 alice systemd[1]: Unit systemd-udev-settle.service entered 
failed state.
  > Mar 18 12:41:16 alice systemd[1]: systemd-udev-settle.service failed.
  > Mar 18 12:41:17 alice systemd[1]: Starting udev Wait for Complete Device 
Initialization...
  > Mar 18 12:41:18 alice systemd[1]: Started udev Wait for Complete Device 
Initialization.

  The dmesg output arround that time is:

  > [    8.537560] Adding 16723964k swap on /dev/sda4.  Priority:-1 extents:1 
across:16723964k FS
  > [    9.559871] input: ST LIS3LV02DL Accelerometer as 
/devices/platform/lis3lv02d/input/input23
  > [  189.205551] Bluetooth: Core ver 2.20
  > [  189.205565] NET: Registered protocol family 31

  ProblemType: Bug
  DistroRelease: Ubuntu 15.04
  Package: dbus 1.8.12-1ubuntu3
  ProcVersionSignature: Ubuntu 3.19.0-9.9-generic 3.19.1
  Uname: Linux 3.19.0-9-generic x86_64
  NonfreeKernelModules: fglrx
  ApportVersion: 2.16.2-0ubuntu3
  Architecture: amd64
  CurrentDesktop: XFCE
  Date: Wed Mar 18 12:51:08 2015
  SourcePackage: dbus
  UpgradeStatus: Upgraded to vivid on 2015-03-02 (15 days ago)

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