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The easiest way for not needing to be root would be to allow your user to execute the specific task with superuser privileges and without a password. For that you just have to put an entry in /etc/sudoers.

If you want automount, however, I would indeed suggest creating a udev rule for that. An example of automounting encrypted usb devices (using LUKS not TrueCrypt) can be found here: http://paste2.org/6vjwHY3A This one is taken from the German Arch Wiki, but you should find a lot of examples once you start searching :-)

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The easiest way for not needing to be root would be to allow your user to execute the specific task with superuser privileges and without a password. For that you just have to put an entry in /etc/sudoers.

If you want automount, however, I would indeed suggest creating a udev rule for that. An example of automounting encrypted usb devices (using LUKS not TrueCrypt) can be found here: http://paste2.org/6vjwHY3A here:

http://paste2.org/6vjwHY3A

This one is taken from the German Arch Wiki, but you should find a lot of examples once you start searching :-)