Here is what worked for me.
Install the userspace USB programming library development files
sudo apt-get install libusb-1.0-0-dev
sudo updatedb && locate libusb.h
The path should appear as (or similar)
/usr/include/libusb-1.0/libusb.h
Include the header to your C code
#include <libusb-1.0/libusb.h>
Compile your C file
gcc -o example example.c -lusb-1.0