My version of Ubuntu is 10.10 (Maverick). The following procedure should work for newer versions too.
Eclipse IDE : The first thing to do is install the Eclipse IDE on your system. Ubuntu Software Center provides Eclipse, but it is the 3.5 version called Galileo and you would need at least the 3.6 version (Helios). I went ahead and installed the 3.7 version (Indigo). The 3.8 version called Juno is scheduled for a July 2012 release, so if you are reading this after that, get Juno.
Go to : Download Eclipse IDE
Extract the contents to any folder, I chose "/home/my_username". If the exlipse.sh file is not an executable, then go to the terminal, cd into the folder where you extracted eclipse and then execute this :
$ sudo chmod +x eclipse.sh
That finishes the Eclipse installation.
Android SDK : Download the SDK Android SDK
Extract the files to any directory of your choice. I did it at "/home/my-username". Then cd into the folder and execute "/tools/android" to run the SDK and AVD Manager.
Choose from the available packages. I chose Android 4.0.3 (API 15) and 2.3.3 (API 10). Now click "Install Selected" and you are done.
Installing and configuring ADT plugin in Eclipse : Start Eclipse and ho to Help -> Add New Software and click on Add. Enter ADT Plugin as name and "https://dl-ssl.google.com/android/eclipse/" as location and click on OK.
Select Developers Tools and click Next and then click Finish after accepting the Terms and Conditions of Service. Once the download is completed, it is time to configure the plugin. Select the location where the SDK was extracted and click Apply/OK. (There appears to be an option of installing the SDK from the ADT plugin configuration menu. This might obviate the step of manually downloading and extracting it. But I didn't do it that way so I don't know if that works.)
That is it, the installation and configuration is complete. Happy development and tinkering :)
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