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That is not a problem related to ROS, it is in fact a problem with Ubuntu 12.04.

You need to give your user permissions to open virtual com ports (such as for the FTDI on the XSens-MTiG):

$ sudo gedit /etc/group

And then add your username to the uucp group (change username for YOUR username):

uucp:x:10:username

And that's it! Save and close, now whenever you restart you can open any virtual com port without constantly changing the port's permissions.