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Ah, I think I've got it: mspdebug depends on the old legacy libusb 0.1 API. To build on a "modern" Linux distro, you can use libusb-compat to provide backwards-compatibility for applications that expect that API. I should send a pull request to add that info to the README...
Where does usb.h come from?
libusb 1.0.26 is installed, but the only include file it provides is libusb.h:
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