I found the solution for my problem.
By restarting the adb server using sudo I was able to get Logcat messages from the device while it is connected to my simulated usb accessory.
sudo ./adb kill-server
sudo ./adb start-server
sudo ./adb devices
Thanks to Leon's answer here.
If you don't feel like using sudo, I've found that the following solution works:
Create a file named /tmp/android.rules with the following contents (hex vendor numbers were taken from the vendor list page):
SUBSYSTEM=="usb", ATTRS{idVendor}=="0bb4", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="0e79", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="0502", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="0b05", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="413c", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="0489", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="091e", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="18d1", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="0bb4", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="12d1", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="24e3", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2116", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="0482", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="17ef", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="1004", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="22b8", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="0409", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2080", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="0955", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="2257", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="10a9", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="1d4d", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="0471", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="04da", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="05c6", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="1f53", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="04e8", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="04dd", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="0fce", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="0930", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="19d2", MODE="0666"
Run the following commands:
sudo cp /tmp/android.rules /etc/udev/rules.d/51-android.rules
sudo chmod 644 /etc/udev/rules.d/51-android.rules
sudo chown root. /etc/udev/rules.d/51-android.rules
sudo service udev restart
sudo killall adb
Disconnect the USB cable between the device and the computer.
Reconnect the phone.
Run adb devices to confirm that now it has permission to access the phone.
Taken from here.