Here’s a list I used for the 1.7.0 release (note that this excludes artoolkit):
build-essential, python-dev, bison, libgtk2.0-dev, libgl1-mesa-dev, libglu1-mesa-dev, libxft-dev, libosmesa6-dev, flex, libssl-dev, libpng12-dev, libtiff4-dev, libx11-dev, libxxf86dga-dev, libxrandr-dev, libvrpn-dev, libquat-dev, libavcodec-dev, libavutil-dev, libavformat-dev, libswscale-dev, libtinyxml-dev, libsquish-dev, libfmodex-dev, libfcollada-dev, libopenal-dev, nvidia-cg-toolkit, fftw-dev, libcv-dev, libhighgui-dev, libcvaux-dev
Some of the packages here are not in the default ubuntu repo’s but in the panda3d PPA.
ARToolKit can be found in the artoolkit-dev PPA, I think.
Also, the ODE from the ubuntu repo’s is broken, you’ll need to install the one from the ogre-dev PPA. (Ironic, isn’t it?)