adding pull req 34 (https://github.com/OpenNI/OpenNI/pulls) as it fixes

a problem with the latest Sensor unstable where the USB interface cannot
be claimed if XnSensorServer is already running

Makefile

@@ -13,7 +13,7 @@ endif
 
 DISTRO=$(shell lsb_release -sc)
 
-OPENNI_PACKAGE_NAME=ros-openni-dev-${OPENNI_VERSION}~${DISTRO}_$(ARCH)${BUILD_NUMBER}
+OPENNI_PACKAGE_NAME=openni-dev-${OPENNI_VERSION}~${DISTRO}_$(ARCH)${BUILD_NUMBER}
 OPENNI_REDISTNAME=OpenNI-Bin-Dev-Linux-${OPENNI_ARCH}-v${OPENNI_VERSION}
 
 all: debian

Source/OpenNI/Linux/XnUSBLinux.cpp

@@ -36,8 +36,6 @@
 #include <XnLog.h>
 #include <XnOSCpp.h>
 #include "XnListT.h"
-
-
 //---------------------------------------------------------------------------
 // Types
 //---------------------------------------------------------------------------
@@ -151,7 +149,7 @@ XnStatus xnUSBAsynchThreadAddRef()
 		if (nRetVal != 0)
 		{
 			xnLogWarning(XN_MASK_USB, "USB events thread: Failed to set thread priority to critical. This might cause loss of data...");
-			printf("Warning: USB events thread - failed to set priority. This might cause loss of data...\n");
+			//printf("Warning: USB events thread - failed to set priority. This might cause loss of data...\n");
 		}
 	}
 
@@ -398,12 +396,50 @@ XN_C_API XnStatus xnUSBOpenDeviceImpl(libusb_device* pDevice, XN_USB_DEV_HANDLE*
 		libusb_close(handle);
 		return (XN_STATUS_USB_SET_CONFIG_FAILED);
 	}
-*/	
+*/
+
+  // Asking the kernel politely to detach every other driver form this device.
+  // If other drivers or programs are attached to the interface, it cannot be claimed.
+  xnLogVerbose(XN_MASK_USB, "Detaching other kernel drivers.");
+  rc = libusb_detach_kernel_driver(handle, 0);
+  if (rc == 0)
+  {
+    xnLogWarning (XN_MASK_USB, "Detach success. Drivers detached.");
+  }
+  else if (rc == LIBUSB_ERROR_NOT_FOUND)
+  {
+    xnLogWarning (XN_MASK_USB, "Detach success. No drivers were attached.");
+  }
+  else if (rc == LIBUSB_ERROR_INVALID_PARAM)
+  {
+    XN_LOG_ERROR_RETURN (XN_STATUS_USB_SET_CONFIG_FAILED, XN_MASK_USB, "Detach kernel driver error. The specified interface does not exist.");
+  }
+  else if (rc == LIBUSB_ERROR_NO_DEVICE)
+  {
+    XN_LOG_ERROR_RETURN (XN_STATUS_USB_SET_CONFIG_FAILED, XN_MASK_USB, "Detach kernel driver error. Device is disconnectd.");
+  }
+  else 
+  {
+    XN_LOG_ERROR_RETURN (XN_STATUS_USB_SET_CONFIG_FAILED, XN_MASK_USB, "Detach kernel driver error. Unknown error.");
+  }
+
+  xnLogVerbose(XN_MASK_USB, "Claiming the interface.");
 	// claim the interface (you cannot open any end point before claiming the interface)
 	rc = libusb_claim_interface(handle, 0);
 	if (rc != 0)
 	{
-		libusb_close(handle);
+    if (rc == LIBUSB_ERROR_NOT_FOUND)
+      xnLogError (XN_MASK_USB, "Interface claim failed: The specified interface does not exist.");
+    else if (rc == LIBUSB_ERROR_BUSY)
+      xnLogError (XN_MASK_USB, "Interface claim failed: Another program or driver has claimed the interface.");
+    else if (rc == LIBUSB_ERROR_NO_DEVICE)
+      xnLogError (XN_MASK_USB, "Interface claim failed: Device disconnected.");
+    else if (rc == LIBUSB_ERROR_OTHER)
+      xnLogError(XN_MASK_USB, "Interface claim failed: Other error.");
+    else
+      xnLogError(XN_MASK_USB, "Interface claim failed: Unknown error.");
+
+		libusb_close (handle);
 		return (XN_STATUS_USB_SET_INTERFACE_FAILED);
 	}