This is because you haven't given your adb the permission to access to your hardware.
You have two solutions:
temporary -> kill all existing adb processes and restart with super user
ps -ef | grep adb | awk '{print $2}' | xargs kill
sudo adb server-restart
or
sudo /platform-tools/adb server-restart
permanent -> add your devices to udev list
Add following line to your /etc/udev/rules.d/51-android.rules as root with correct idVendor using this list.
SUBSYSTEM=="usb", ATTR{idVendor}=="0bb4", MODE="0666", GROUP="plugdev"
followed by following command:
chmod a+r /etc/udev/rules.d/51-android.rules
If adb doesn't work do the following:
sudo ln -s /platform-tools/adb /usr/local/sbin/adb