Delete existing adbkeys
OR
Rename adbkeys
Best practise is to rename the keys because it provides backup.
cd ~/.Android
mv adbkey adbkey2
mv adbkey.pub adbkey.pub2
Next stop & start the server
cd ~/Android/Sdk/platform-tools
Locate the device
/Android/Sdk/platform-tools$ ./adb devices
/Android/Sdk/platform-tools$ ./adb kill-server
/Android/Sdk/platform-tools$ ./adb start-server
Then, stop the emulator Open AVD manager, click on the down arrow, then click on wipe data
Restart the emulator. Then everything works fine :)