The Google recommended way to deal with ADB device permissions is to create an UDEV rule which would set appropriate permissions on device enumeration.
As per http://developer.android.com/tools/device.html
If you're developing on Ubuntu Linux, you need to add a udev rules
file that contains a USB configuration for each type of device you
want to use for development. In the rules file, each device
manufacturer is identified by a unique vendor ID, as specified by the
ATTR{idVendor} property. For a list of vendor IDs, see USB Vendor IDs,
below. To set up device detection on Ubuntu Linux: Log in as root and
create this file: /etc/udev/rules.d/51-android.rules. Use this format
to add each vendor to the file: SUBSYSTEM=="usb",
ATTR{idVendor}=="0bb4", MODE="0666", GROUP="plugdev"
In this example, the vendor ID is for HTC. The MODE assignment
specifies read/write permissions, and GROUP defines which Unix group
owns the device node. Note: The rule syntax may vary slightly
depending on your environment. Consult the udev documentation for your
system as needed. For an overview of rule syntax, see this guide to
writing udev rules. Now execute: chmod a+r
/etc/udev/rules.d/51-android.rules When plugged in over USB, can
verify that your device is connected by executing adb devices from
your SDK platform-tools/ directory. If connected, you'll see the
device name listed as a "device."
