Android device debug by Charge Only mode

Method 1

Connect devices to computer and execute lsusb

Find current device's info:

Bus 001 Device 006: ID 2717:ff08

2717 is VendorID and ff08 is ProductID

Then create /etc/udev/rules.d/51-android.rules (sudo needed) and add this line:

SUBSYSTEM=="usb", ATTR{idVendor}=="2717", MODE="0666", GROUP="plugdev"

At last execute:

sudo chmod a+r /etc/udev/rules.d/51-android.rules