"ERROR : No emulator images (avds) found" running ionic on osx 10.10

This is the full error message I got after running ionic emulate android

*running cordova emulate android  
Running command: /Users/DeadLift/Documents/ionic/myApp/hooks/after_prepare/010_add_platform_class.js /Users/DeadLift/Documents/ionic/myApp
add to body class: platform-android  
Running command: /Users/DeadLift/Documents/ionic/myApp/platforms/android/cordova/run --emulator  
ANDROID_HOME=/usr/local/Cellar/android-sdk/24.1.2  
JAVA_HOME=/Library/Java/JavaVirtualMachines/jdk1.8.0_45.jdk/Contents/Home  
/Users/DeadLift/Documents/ionic/myApp/platforms/android/cordova  /node_modules/q/q.js:126  
                    throw e;  
                          ^
ERROR : No emulator images (avds) found.  
1. Download desired System Image by running: /usr/local/Cellar/android-sdk/24.1.2/bin/android sdk  
2. Create an AVD by running: /usr/local/Cellar/android-sdk/24.1.2/bin/android avd  
HINT: For a faster emulator, use an Intel System Image and install the HAXM device driver  
Error: /Users/DeadLift/Documents/ionic/myApp/platforms/android/cordova/run: Command failed with exit code 1  
    at ChildProcess.whenDone (/usr/local/lib/node_modules/cordova/node_modules/cordova-lib/src/cordova/superspawn.js:131:23)  *emphasized text*
    at ChildProcess.emit (events.js:110:17)  
    at maybeClose (child_process.js:1015:16)  
    at Process.ChildProcess._handle.onexit (child_process.js:1087:5)*  

I follow all the above by creating an avd and it give me the same message again.
Thanks.