How to Add Udev Rules for USB Debugging in Linux

In Linux,when connect device to debug, it shows error message:

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

or adb logcat was just waiting forever even though my phone was connected, and adb devices was giving permission errors.

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

Resolve the issue: Find the bus and device id assigned by the kernel:

 $ lsusb 
 ??????

Need check in Linux, Continued......

in file, /etc/udev/rules.d/51-android.rules, add SUBSYSTEM=="usb", ENV{DEVTYPE}=="usb_device", MODE="0666"