The file /etc/udev/rules.d/51-android.rules must contain:
SUBSYSTEM=="usb",SYSFS{idVendor}=="0bb4",SYMLINK+="android_adb",MODE="0666"
After that execute:
# udevcontrol reload_rules
Then attach your device. You should be able to see it reported by the command
# $ANDROID_HOME/tools/adb devices
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