ant.conf

<!DOCTYPE busconfig PUBLIC
          "-//freedesktop//DTD D-BUS Bus Configuration 1.0//EN"
          "http://www.freedesktop.org/standards/dbus/1.0/busconfig.dtd">
<busconfig>

  <policy user="root">
    <allow own="org.ant.cameraManager"/>
    <allow own="org.ant.sensorManager"/>
    <allow own="org.ant.dbuschannel"/>
  </policy>
<policy user="pi">
    <allow own="org.ant.cameraManager"/>
    <allow own="org.ant.sensorManager"/>
    <allow own="org.ant.dbuschannel"/>
  </policy>

  <!-- Allow anyone to invoke methods -->
  <policy context="default">
    <allow send_destination="org.ant.sensorManager"/>
    <allow receive_sender="org.ant.sensorManager"/>
    <allow send_interface="org.ant.sensorManager"/>
    <allow receive_interface="org.ant.sensorManager"/>

    <allow send_destination="org.ant.dbuschannel"/>
    <allow receive_sender="org.ant.dbuschannel"/>
    <allow send_interface="org.ant.dbuschannel"/>
    <allow receive_interface="org.ant.dbuschannel"/>
  </policy>
</busconfig>