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I wanted to give sudo access to one of the users. What needs to be done on my terminal?

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You need to run a visudo and in the editor that it opens write:

igor    ALL=(ALL) ALL

This line grants all the permissions to user igor.

If you want a permit to run only on some commands, you need to list them in this line:

igor    ALL=(ALL) /bin/kill, /bin/ps

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