What reverse engineering tools ?

So, what are the best tools to reverse engineer Android binaries ? I saw that IDA pro disassembles Android binaries perfectly, as they're just Linux executables of course. But what do you use to step through code ? Is there something that can you can use to freeze a binary during execution, just like you would with soft-ICE on windows ? Or a good debugger ? I think it's even possible to remote debug using IDA pro, did anyone get that working ?

Thanks !