Don't forget that desktop Linux comes with OpenGL, not OpenGLES! They're similar but not quite compatible. If you want to do work on OpenGLES on a desktop Linux platform, ARM or otherwise, you'll need an OpenGLES emulator library. Sorry, can't recommend any, I'm looking for one myself.
OpenGLES just handles the process of drawing stuff into the window. You also need a windowing library, which handles the process of creating a window to draw stuff into, and an event library, which deals with input events coming back from the window.
SDL will provide both of the last two, as will a bunch of other libraries. Khronos themselves have standardised on EGL as the windowing library and OpenKODE as the event library... but I don't actually know where to get open source implementations of these for Linux. (I work for a company that does EGL and OpenKODE for embedded platforms, so I've never needed to find an open source version!)