error: insufficient permissions for device
解决：
[calvin@calvin-desktop ~ 23:31:18 ] $ sudo -s
sudo -s:执行环境变数中的 SHELL 所指定的 shell ，或是 /etc/passwd 里所指定的 shell
即相当于 sudo /bin/bash
[root@calvin-desktop ~ 23:31:22 ] $ adb kill-server
[root@calvin-desktop ~ 23:31:35 ] $ adb start-server
* daemon not running. starting it now *
* daemon started successfully *
[root@calvin-desktop ~ 23:31:44 ] $ exit
exit
[calvin@calvin-desktop ~ 23:31:47 ] $ adb shell
更新：
在51-android.rules中只写一句：
SUBSYSTEM=="usb", ENV{DEVTYPE}=="usb_device", MODE="0666"，即可。
[calvin@calvin-desktop ~ 23:34:27 ] $ lsusb
Bus 003 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 007 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 002 Device 015: ID 1004:615d LG Electronics, Inc.
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 006 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 005 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
由此可见，该设备的id为1004，
将/etc/udev/rules.d/51-android.rules文件的内容改为
SUBSYSTEM=="usb", SYSFS{idVendor}=="1004", MODE="0666"即可。
可以写多行，如：
#Acer 0502
SUBSYSTEM=="usb", SYSFS{idVendor}=="0502", MODE="0666"
#Dell 413c
SUBSYSTEM=="usb", SYSFS{idVendor}=="413c", MODE="0666"
#Foxconn 0489
SUBSYSTEM=="usb", SYSFS{idVendor}=="0489", MODE="0666"
#Garmin-Asus 091E
SUBSYSTEM=="usb", SYSFS{idVendor}=="091e", MODE="0666"
#HTC 0bb4
SUBSYSTEM=="usb", SYSFS{idVendor}=="0bb4", MODE="0666"
#Huawei 12d1
SUBSYSTEM=="usb", SYSFS{idVendor}=="12d1", MODE="0666"
#Kyocera 0482
SUBSYSTEM=="usb", SYSFS{idVendor}=="0482", MODE="0666"
#LG 1004
SUBSYSTEM=="usb", SYSFS{idVendor}=="1004", MODE="0666"
#Motorola 22b8
SUBSYSTEM=="usb", SYSFS{idVendor}=="22b8", MODE="0666"
#Nvidia 0955
SUBSYSTEM=="usb", SYSFS{idVendor}=="0955", MODE="0666"
#Pantech 10A9
SUBSYSTEM=="usb", SYSFS{idVendor}=="10A9", MODE="0666"
#Samsung 04e8
SUBSYSTEM=="usb", SYSFS{idVendor}=="04e8", MODE="0666"
#Sharp 04dd
SUBSYSTEM=="usb", SYSFS{idVendor}=="04dd", MODE="0666"
#Sony Ericsson 0fce
SUBSYSTEM=="usb", SYSFS{idVendor}=="0fce", MODE="0666"
#ZTE 19D2
SUBSYSTEM=="usb", SYSFS{idVendor}=="19D2", MODE="0666"
http://hi.baidu.com/iceliushuai/blog/item/1e506160c5d01f48eaf8f801.html