This document details useful information on how to use a Raspberry Pi Pico as a SWD probe for another Pico using the Picoprobe software. This information assumes you have followed all of the steps in Appendix A of the Getting Started with Raspberry Pi Pico Guide and that you are doing development on a Linux system.
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Add the below files to your system to enable non-root access to the devices
/etc/udev/rules.d/99-openocd.rules:
# Raspberry Pi Picoprobe
ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="0004", MODE="0666"