Error: Cannot read property ‘replace’ of undefined [Android]

Error happens when running `cordova run android` or `cordova emulate android`:

Example output:

BUILD SUCCESSFUL

Total time: 1.601 secs
Built the following apk(s): 
	/Users/Joanne/Desktop/learning/mobile/platforms/android/build/outputs/apk/android-debug.apk
ANDROID_HOME=/Users/Joanne/Library/Android/sdk
JAVA_HOME=/Library/Java/JavaVirtualMachines/jdk1.8.0_131.jdk/Contents/Home
No target specified and no devices found, deploying to emulator
Error: Cannot read property 'replace' of undefined

More details, environment information of multiple people having this problem can be found here:
https://forum.ionicframework.com/t/error-cannot-read-property-replace-of-undefined-android/93297

A solution was also proposed here:
https://forum.ionicframework.com/t/error-cannot-read-property-replace-of-undefined-android/93297/11

I just came across the same problem. I tracked it down to file /platforms/android/cordova/lib/emulator.js line 202:

var num = target.split('(API level ')[1].replace(')', '');

I replaced it with a regex search and extraction:

var num = target.match(/\d+/)[0];

Not sure if this is the right way to fix this.