The first step is to install NodeJS

sudo apt-get install nodejs

The nodejs installed from the repositories use nodejs, since we may need node, we create a symlink so we can use both

sudo ln -s /usr/bin/nodejs /usr/bin/node

We also need to install ant

sudo apt-get install ant

Now we will install ionic and cordoba

sudo npm install -g cordova ionic

Change the ownership of tmp folder created by npm, replace user:group by your username group

sudo chown user:group ~/tmp/

You need android sdk installed, and to add this lines to the file ~/.bashrc, change /opt/android/sdk by the path your are installing

export ANDROID_HOME=/opt/android/sdk
export PATH=$PATH:$ANDROID_HOME/tools:$ANDROID_HOME/platform-tools

Install gulp

sudo npm install -g gulp

if your are going to use SASS we should install ruby

sudo apt-get install ruby
sudo su -c "gem install sass"

Now you can start your proyect like

ionic start myApp blank
cd myApp/
ionic platform add android
ionic build android
ionic emulate android