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I'm starting a process with the cap_kill capability and use this process to kill other services. However I'd like to be able to restart these service with a systemctl restart xxx

Is there a capability to allow this without having to run it with sudo?

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To allow a non-root user to restart a system service, you can either use sudo (which you say you want to avoid), or PolKit.

Please refer to this answer for instructions on how to configure PolKit rules.

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