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An alternative solution used here https://github.com/laas/ros_comm_upstart (upstart script for roscore only available as a .deb package) is to create a separate ROS user. The ROS user creation is automatically handled by my upstart Debian package. It is available here: https://github.com/downloads/laas/ros_comm_upstart/ros-electric-ros-comm-upstart_0.1_all.deb
Running ROS as root (with sudo for instance) is a huge security risk and I strongly discourage it.
Of course, you do not have to use my packaging but using a separate user for ROS services is crucial and will avoid all the trouble of dealing with setuidgid flags. Just give to the ROS user the access to the devices it needs and nothing more.
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