How to Add Udev Rules for USB Debugging in Linux

In Linux, when connecting devices for debugging, an error message is displayed:

 insufficient permissions for device: user in plugdev group; are your udev rules wrong?

Or the reply from ADB logcat is always waiting. Even if my mobile phone is connected, the reply from ADB device is to give permission error.

 $ adb logcat
 - waiting for device -
 ^C
 $ adb devices
 List of devices attached 
 ???????????? no permissions

The solution is to find the bus and device ID assigned by the kernel:

 $ lsusb 
 ??????

Need to check in Linux, continue...... In the /etc/udev/rules.d/51-android.rules file, add SUBSYSTEM=="usb", ENV{DEVTYPE}=="usb_device", MODE="0666"