I don't know the use cases you may be finding for _sudo_ to be needed. Could you give a few examples? It may be easier to reason and maybe create these best practices.
The only reference to best practices I found is here:
https://github.com/leggedrobotics/ros_best_practices/wiki#using-third-party-libraries (linked from
http://wiki.ros.org/BestPractices)
> * Dont use sudo in wrapper packages.
> * Dont require manual system wide installations.
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