First you will need to install ADB and fastboot binaries from your favorite distribution repository. Follow instructions from prerequisite or go directly to the install rules section.
On Ubuntu:
sudo apt-get install android-tools-adb android-tools-fastboot
On Fedora:
sudo dnf install android-tools
Generate and install the rules for udev:
make && sudo make install
You may have to reload udev rules:
sudo make reload
make setup-adb
adb kill-server
adb shell
To allow communication with your Android device without root privileges, you will create a group named android and be a part of that group. Run:
sudo make setup
Now you are supposed to run...
adb shell
.. to open a shell to your favorite Android device!