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Follow @AdrianPeng answer. I provide here for reference my udev rules written by the SDK config executable "flycap2-conf". It writes 40-pgr.rules

ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2000", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2001", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2002", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2003", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2004", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2005", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3000", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3001", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3004", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3005", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3006", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3007", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3008", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="300A", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="300B", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3100", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3101", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3102", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3103", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3104", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3105", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3106", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3107", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3108", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3109", MODE="0664", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3300", MODE="0664", GROUP="pgrimaging"
KERNEL=="raw1394", MODE="0664", GROUP="pgrimaging"
KERNEL=="video1394*", MODE="0664", GROUP="pgrimaging"
SUBSYSTEM=="firewire", GROUP="pgrimaging"
SUBSYSTEM=="usb", GROUP="pgrimaging"

Notice the difference with other given udev rules firefly becomes firewire.

Furthermore I'm using Ubuntu 14.04.4 with ros-indigo-pointgrey-camera-driver. Camera is

[0]Serial: 14435635, Model: Grasshopper3 GS3-U3-23S6C, Vendor: Point Grey Research, Sensor: Sony IMX174 (1920x1200 CMOS), Resolution: 1920x1200, Color: true, Firmware Version: 2.8.3.0