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automount encrypted USB drive

I have an external USB hard drive which I encrypted with TrueCrypt. I've just started using Fedora 18 wit the LXDE spin. I would like my USB drive to be mounted automatically when it gets connected. I have managed to use tcplay and mount "by hand", but only as root, and I would also like this to happen without needing root privileges. Ultimately I'm going to have a backup script run. I've searched around, but I'm unclear what is available to me with Fedora & LXDE. It seems like some solutions exist at the desktop manager level, whereas others (udisks, udev?) are presumably lower down.

Should I be looking into udev for this task?