cordova.js not available while running in chrome
use command ionic cordova run browser instead of ionic serve
Cordova is only included once your app is built to be run on a device, and so it's not available while testing in a browser. This of course means that plugins relying on Cordova wont work either. That's a limitation of testing in a browser. You can disregard the error.
To test all functionality you should test in an emulator or a real device.