Install the following debian packages (sudo apt install)

gcc-arm-none-eabi
gdb-multiarch or gdb-arm-none-eabi (for older debian/ubuntu)
libnewlib-arm-none-eabi
libnewlib-dev
libnewlib-doc
newlib-source
ddd
make
gtkterm or minicom (or use M-x serial-terminal in emacs)
openocd (>=0.10.0)

Then

sudo cp doc/udev-rules/* /etc/udev/rules.d/

Then

install openocd in /opt/openocd (only if debian package version < 0.10.0)

From GIT repository:
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Install the following packages (sudo apt install)

libtool
automake
autoconf
autoconf-archive
pkgconf
git
libusb-1.0-0-dev
libusb-1.0-0
shtool
autogen

then run the following commands

git clone git://git.code.sf.net/p/openocd/code
cd code
git submodule init
./bootstrap
./configure --prefix=/opt/openocd
make
sudo make install
ln -s /opt/openocd/bin/openocd /usr/local/bin/openocd
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