The nfc-tools.org website has good directions for how to install on ubuntu systems.
Here is how I did it on my Raspberry Pi 3 B running Raspbian 8.0 (jessie)
sudo apt-get install pcscd libusb-dev libpcsclite1 libpcsclite-dev dh-autoreconf libudev-dev libusb-0.1-4
sudo wget -O /lib/udev/rules.d/93-pn53x.rules https://raw.githubusercontent.com/nfc-tools/libnfc/master/contrib/udev/93-pn53x.rules
git clone https://github.com/nfc-tools/libnfc.git
git checkout libnfc-1.7.1
git clean -d -f -x
rm ../libnfc*.deb #may not exist
git remote|grep -q anonscm||git remote add anonscm git://anonscm.debian.org/collab-maint/libnfc.git
git fetch anonscm
git checkout remotes/anonscm/master debian
dpkg-buildpackage -uc -us -b
sudo dpkg -i ../libnfc*.deb
Next plug in NFC device, wait 30 seconds. May have to unplug then plug in again. Now you can run
nfc-list to see if your device is detected.
If you are still running into problems stop the pcsc daemon (
sudo service pcscd stop) then manually run
sudo pcscd -f -d to monitor the output.
Note: You will have to restart
pcscd and unplug and re-plug your device to use it over pcsc after running