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As @skakareko mentioned, the issue is the way the headers are specified. The header files are installed in a different location when libfreenect is installed through ubunut deb vs ros-drivers. The way freenect_stack was written assumes libfreenect is installed the through the ros-drivers repository.

If you checkout the fork from this pull request, it utilizes the deb installation of libfreenect rather than being held up on a melodic release of ros-drivers/libfreenect which is no longer maintained.