Most of what you need:
sudo apt install android-sdk android-sdk-platform-23
If you can't find it, just download Android Studio and abandon this guide.
git clone https://github.com/Shadowstyler/android-sdk-licenses.git
sudo cp -a android-sdk-licenses/*-license /usr/lib/android-sdk/licenses
rm -rf android-sdk-licenses
You'll want to make a local.properties file to tell Gradle where the SDK is:
sdk.dir=/usr/lib/android-sdk/
ndk.dir=/usr/lib/android-ndk/
(ndk.dir isn't necessary, but it would be if you want to use C/C++).
sudo apt install google-android-ndk-installer