Lagrange and Poisson brackets: A step back to the Classical realms.
Consider two variables $q_i, p_i$ given as a function of two parameters $u,v\,.$ The the Lagrange bracket is given by $$[~u,\, v~] ~= ~ \sum_{i~=~1}^n \left(\frac{\partial q_i}{\partial u}\frac{\partial p_i}{\partial v}- \frac{\partial q_i}{\partial v}\frac{\partial p_i}{\partial u}\right)\,.\tag{I} $$
Now, transform the variables $q_i, p_i$ to $Q_i, P_i$ such that the Lagrange bracket in the new variables remain invariant. This is known as canonical transformation.
Let the old variables be assumed to be expressed in terms of new variables in an explicit form as:
\begin{align}q_i &= f_i(Q_1,\ldots Q_n; P_1, \ldots, P_n)\\ p_i & = f^{\prime}_i(Q_1,\ldots Q_n; P_1, \ldots, P_n)\end{align}
Any pair of $Q_i, Q_k$ or $P_i, P_k$ or $Q_i, P_k$ can be replaced with $u,v$ in $\rm (I)$ considering the other variables constant.
Since, in the new coordinate system, $Q_i, P_i$ are independent of each other, from $\rm (I)$ we get:
$$[~Q_i, ~Q_k~] = 0;\qquad[~P_i, ~P_k~] = 0;\qquad[~Q_i, ~P_k~] = \delta_{ik}\,. \tag{II}$$
Now, consider $u,v$ as functions of $q_i, p_i$ as:
\begin{align}u &= u(q_1,\ldots q_n; p_1, \ldots, p_n)\\ v & = v(q_1,\ldots q_n; p_1, \ldots, p_n)\end{align}
Then the Poisson bracket is given by
$$(~u,\, v~) ~= ~ \sum_{i~=~1}^n \left(\frac{\partial u}{\partial q_i}\frac{\partial v}{\partial p_i}- \frac{\partial v}{\partial q_i}\frac{\partial u}{\partial p_i}\right)\,.\tag{III} $$
We can have $u_1, u_2, \ldots, u_{2n}$ expressed as functions of $q_i, p_i;$ alternatively $q_i, p_i$ can be expressed as functions of $u_1,u_2, \ldots, u_{2n}\,.$ We can form Poisson bracket for the first case while for the second case, we can form Lagrange bracket; thus they are related to each other. If the Lagrange bracket is invariant of an explicit transformation, then so is the Poisson bracket. The canonical transformation leaves the Poisson bracket invariant irrespective of how $u,v$ depend on $q_i, p_i\,.$
Now, express $Q_i, P_i$ in terms of old coordinates $q_i, p_i$ as:
\begin{align}Q_i &= F_i(q_1,\ldots q_n; p_1, \ldots, p_n)\\ P_i & = F^{\prime}_i(q_1,\ldots q_n; p_1, \ldots, p_n)\end{align}
Form the Poisson bracket in the new as well as the old coordinates.
By the property of invariance as explained above,
$$(~Q_i, ~Q_k~) = 0;\qquad(~P_i, ~P_k~) = 0;\qquad(~Q_i, ~P_k~) = \delta_{ik}\,. \tag{IV}$$
Commutativity of Operators: Advent of Quantum Mechanics.
In QM, observables are represented by (Hermitian) operators. For a pair of operators $A$ and $B,$ the commutator bracket is given by $$[~A,~B~] \equiv AB -BA\tag{V}$$
It measures to what extent the operators are commutative to each other.
Two different observables with operators $A$ and $B$ have definite values if the wave function is an eigenfunction of both $A$ and $B$. So, the question whether two quantities can be definite at the same time is really whether their operators $A$ and $B$ have common eigenfunctions.
That is
Iff two Hermitian operators commute, there is a complete set of eigenfunctions that is common to them both1.
Observables with operators that do not commute cannot in general have definite values at the same time. If one has a definite value, the other is in general uncertain.
Now, the analogs of the classical equations of motion in QM can be found by substituting the commutator brackets divided by $\mathrm i\hslash$ for the Poisson bracket viz. $$(~A, B~) \rightarrow \frac1{\mathrm i\hslash}~[~A,~B~]\tag{VI}$$
Which means the classical relations imply
$$[~q_i, ~q_k~] = 0;\qquad[~p_i, ~p_k~] = 0;\qquad[~q_i, ~p_k~] = \mathrm i\hslash~\delta_{ik}\,.\tag{VII} $$
Uncertainty Principle:
Standard Deviation of operator $A$ is given by
$$\sigma_A = \sqrt{\langle A^2\rangle - \langle A\rangle ^2}$$ where $\langle \quad\rangle$ is the expectation value of the observable in the concerned state.
For an observable represented by operator $A,$ the variance of $A$ on a certain state $\Psi$ is given by
$$\sigma^2_A = \langle (A - \langle A\rangle)\Psi|(A - \langle A\rangle)\Psi\rangle\,.$$
Similarly, for observable represented by operator $B,$ we have $$\sigma^2_B = \langle (B - \langle B\rangle)\Psi|(B - \langle B\rangle)\Psi\rangle\,.$$
Therefore, \begin{align}\sigma^2_A\sigma^2_B &=\langle (A - \langle A\rangle)\Psi|(A - \langle A\rangle)\Psi\rangle\langle (B - \langle B\rangle)\Psi|(B - \langle B\rangle)\Psi\rangle\\ & \geqq \left|\langle(A - \langle A\rangle)\Psi|(B - \langle B\rangle)\Psi\rangle\right|^2~~~~~~ \textrm{Cauchy-Schwarz Inequality}\,.\tag{VIII} \end{align}
For a complex number $z,$ $$|z|^2 = ({\rm Re(z)})^2+ ({\rm Im(z) })^2 \geqq ({\rm Im(z) })^2 = \left(\frac{1}{2\mathrm i}~\left(z-z^\dagger\right)\right)^2$$ where $z^\dagger$ is the complex conjugate of $z\,.$
Take $z$ to be $\langle(A - \langle A\rangle)\Psi|(B - \langle B\rangle)\Psi\rangle;$ this means $z^\dagger =\langle(B - \langle B\rangle)\Psi|(A - \langle A\rangle)\Psi\rangle\,. $
So, we can write $\rm (VIII)$ as $$\sigma^2_A\sigma^2_B\geqq \left(\frac{1}{2\mathrm i}~\left(\langle(A - \langle A\rangle)\Psi|(B - \langle B\rangle)\Psi\rangle- \langle(B - \langle B\rangle)\Psi|(A - \langle A\rangle)\Psi\rangle\right)\right)^2\,.$$
Compute the terms; at the end, it would be found out that $$\langle(A - \langle A\rangle)\Psi|(B - \langle B\rangle)\Psi\rangle- \langle(B - \langle B\rangle)\Psi|(A - \langle A\rangle)\Psi\rangle =\langle [~A,~B~]\rangle \,.$$
And, thus it can be concluded $$\underbrace{\sigma^2_A\sigma^2_B\geqq \left(\frac{1}{2\mathrm i}~\left(\langle [~A,~B~]\rangle\right)\right)^2}_\textrm{Generalised Uncertainty Principle}\,.\tag{G.U.P}$$
Now, from $\rm(VII),$ we know $[~x, ~p_x~] = \mathrm i\hslash$ where $x$ and $p_x$ are position and momentum operators; using this and the Generalised Uncertainty Principle, we get the very familiar position-momentum Uncertainty Principle:
$$\sigma^2_x\sigma^2_{p_x} \geqq \left(\frac\hslash 2\right)^2\;.\tag{IX}$$
Uncertainty Principle is a general result; it is solely due to commutativity of operators and not due to any wave or particle nature.
Uncertainty Principle relies on the sole fact that two operators need not be commutative with each other.
Pair of position and momentum operators is but one of the many pairs of operators which do not commute with each other and thus follows $\rm(G.U.P)\,.$
Relevance of the wave picture in the Uncertainty Principle.
If $f$ and $F$ are Fourier transforms, than the widths of the graphs of $|f(x)|^2$ and $|F(x)|^2$ cannot be both made arbitrarily small.
There is bandwidth theorem which states that product of length of a wave packet/ wave group $\Delta x$ with the corresponding band $\Delta k$ of wave-numbers cannot be made arbitrarily small simultaneously. Precisely, $$\Delta k \Delta x\approx \Delta \omega\Delta t \geqq 2\pi,$$ where $\Delta \omega$ is a band of angular frequencies of the wave packet and $\Delta t$ is the time taken by the packet to pass a fixed point with group velocity $v_g$ using the relation $\Delta k = \dfrac{\Delta \omega}{v_g}\,.$
Using the De-Broglie relation, we get again $$\Delta x\Delta p_x \geqq \frac{\hslash}2\,.\tag{X}$$
This is true because the position and momentum are Fourier conjugate to each other.
Conclusion:
Is it true that this principle is a consequence of wave nature of particle, that the uncertainty pops up due the fact that particle acts as a wave?
Yes and no.
Surely the Uncertainty Principle can be derived from the fact that quantum particles have waves associated with them.
But the Uncertainty Principle is a much more general result.
It is solely due to the commutativity of operators.
As not all pairs of operators need to be commutative.
References:
$\bullet$ The Variational Principles of Mechanics by Cornelius Lanczos.
$\bullet$ Quantum Mechanics by Leonard I. Schiff.
$\bullet$ Introduction to Quantum Mechanics by David J. Griffiths.
$\bullet$ Waves by Frank S. Crawford Jr.
$\bullet$ Uncertainty Principle - Wikipedia.