Do I need Android SDK to connect my phone in USB debug mode? I'm following the steps provided here to root my Samsung Captivate (Galaxy-S).  I install the USB drivers in the link provided.  Whenever I connect my phone, I get the error There was a problem installing this hardware... SAMSUNG Android Composite ADB Interface.  I do have USB Debug mode checked on my phone.

The googling I have done on this issue mention downloading the Android SDK, but I have heard no mention of needing this on the XDA developers forum or in any other conversation about rooting.  So, I wanted to ensure that downloading the Android SDK was necessary, or would even fix my problem before I bother installing it and its dependencies (Java JDK).  I'm running Windows XP.  

Note:  Although I'm running a 64-bit machine, I Installed the x86 Samsung Drivers since Windows XP is a 32-bit OS.  I hope that's right.
No, you don't need to install the Android SDK.  The SDK's drivers don't work for the Galaxy S, actually, at least not the last time I tried.

You best bet is to download Samsung Kies and update the drivers through it, as per this answer to another question.  You can get Kies most easily from Samsung UK here.