Android: how to connect to your phone via adb over Wifi

There are number of apps to do this in case of rooted phones.  But this procedure does not require your phone to be rooted.

First connect the phone via usb and run

$ adb usb

Then run:

$ adb tcpip 5555

Then run the following command to figure out the IP address of the phone.

$ adb shell ip -f inet addr show wlan0

Say the IP address of your phone is run the following command to connect to the phone over Wifi:

$ adb connect