I have installed udisks2 on a minimal Raspbian Strech image, but I can't find any doc to understand how to configure it in order to have USB automounted device.
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If you have installed udisks2 from the default Raspbian repository with:
rpi ~$ sudo apt install udisks2
For a first overview look at
rpi ~$ apt show udisks2
I would suggest for the first steps to start with
udisksctl. You will also find the default documentation in
/usr/share/doc/udisks2 and within the man pages. There are three man pages installed:
If it does not help enough then in
man udisks you will find a list with 12 links to further sources.