The Android documentation has been updated with some notes on "Developing on Android Hardware" at http://code.google.com/android/intro/develop-and-debug.html#developingondevicehardware. I had some struggles with this as I followed the instructions and verified the device was listed in the "lsusb" output. Even with lsusb showing the device "adb devices" failed to detect it. I had been running adb against an emulator before adding /etc/udev/rules.d/50- android.rules. After some trial and error I ran "adb kill-server." The next time I ran "adb devices" it started a new server and the device appeared as it should. So if anyone is having problems with detection of the G1 you might try restarting the adb server after messing with the udev rules. My experiment was with Debian Unstable.
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