In wanting to setup an Android Development Environment on CentOS I have had to adapt some of this information from when I set up an Android Development Environment on Win7 Pro.

http://www.makeuseof.com/tag/write-google-android-application/

Down Load and Install Eclipse. (Via YUM)
We are wanting the Eclipse Java Helios or simiply Eclipse IDE for Java Developers.
These are the Eclipse packages that I have on my system:

rpm -qa|grep eclipse
eclipse-rcp-sdk-3.2.1-19.el5.centos
eclipse-jdt-sdk-3.2.1-19.el5.centos
eclipse-jdt-3.2.1-19.el5.centos
eclipse-ecj-3.2.1-19.el5.centos
eclipse-platform-3.2.1-19.el5.centos
eclipse-pde-sdk-3.2.1-19.el5.centos
eclipse-pde-runtime-3.2.1-19.el5.centos
eclipse-platform-sdk-3.2.1-19.el5.centos
eclipse-rcp-3.2.1-19.el5.centos
eclipse-pde-3.2.1-19.el5.centos
eclipse-sdk-3.2.1-19.el5.centos

Down Load and Install Java JDK (Via YUM)
These are the Java packages that I have on my system:

rpm -qa|grep java
ant-javamail-1.6.5-2jpp.2
java-1.4.2-gcj-compat-1.4.2.0-40jpp.115
java-1.6.0-openjdk-javadoc-1.6.0.0-1.16.b17.el5
tzdata-java-2010l-1.el5
java-1.6.0-openjdk-1.6.0.0-1.16.b17.el5
java-1.6.0-openjdk-devel-1.6.0.0-1.16.b17.el5
gcc-java-4.1.2-48.el5

Download the Android SDK, now version r08. Here.

Unpack and move to a dir under /opt called /android_sdk_r08
chown this directory to root.root (chown -R root.root /opt/android_sdk_r08)