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I don't have any experience with the RaspberryPi. I am not sure how well libfreenect supports it. Can you check to see if lsusb gives a suitable output:

lsusb

lsusb should give an output similar to:

Bus 001 Device 004: ID 045e:02b0 Microsoft Corp. Xbox NUI Motor
Bus 001 Device 005: ID 045e:02ad Microsoft Corp. Xbox NUI Audio
Bus 001 Device 006: ID 045e:02ae Microsoft Corp. Xbox NUI Camera

Also, I am not sure which binaries inside libfreenect can be run on the pi, but hopefully atleast tiltdemo should work:

rosrun libfreenect tiltdemo

Let me know if the above work.