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You are addressing three different problems. First is system startup: To set permissions the clean way would be udev - rules. The quick way is change /etc/rc.local

#!/bin/sh -e
# ... bla bla
# By default this script does nothing.
chmod a+rw /dev/ttyUSB0
exit 0

The next point is starting your ros nodes: take a look at the roslaunch documentation.

And the last is start problem of your application on desktop level: I would create a bash script which starts two terminals (I suggest xterm, because it is quite easily scriptable) which automatically start roslaunch and another terminal with the python script. Depending on your desktop environment you can call the script at startup of the graphical system.