I removed every packages and was about to give up when I finally found the answer that made things work out of the box at
http://doc.ubuntu-fr.org/materiel/acr38
Packages to install :
sudo apt-get install libacr38u libacr38ucontrol0 beid-tools pcscd libpcsclite-dev beidgui libbeid2 libbeidlibopensc2
After installing these, I was able to read my card under beid.
Firefox :
In order to access websites working with the eID, you need to load the PKCS#11 module.
Edit > Preferences > Advanced > Encryption > Security Devices > Load
Module name : “Belgium Identity Card PKCS#11″
Module filename : “/usr/lib/libbeidpkcs11.so.2″
Restart Firefox when done.
The card reader MUST be plugged before starting Firefox if you intend to access a website requiring access to your eID.
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